diff --git a/.gitignore b/.gitignore index 004038b..395b527 100644 --- a/.gitignore +++ b/.gitignore @@ -11,6 +11,5 @@ log/ logs/ data/ files/ -*.csv *.png diff --git a/Readme.md b/Readme.md index 0391cc3..b8180f8 100644 --- a/Readme.md +++ b/Readme.md @@ -1,5 +1,5 @@ # auto drive misson center webots simulation: -该分支修复了原LQR算法中矩阵错误问题，并对参数进行调教，增加stanley前轮转向控制算法，并适配webots仿真环境。后续实车测试优先使用该分支 +lhy本地控制测试分支，无本地控制测试需求请勿使用 ## 1, `ubuntu20.04`, `ubuntu22.04` ## 2, 安装 `webots` `https://github.com/cyberbotics/webots/tags`， 版本： `ubuntu20.04： R2023a， ubuntu22.04：R2025a` diff --git a/pp_stanley_plot_path_tracking_error.py b/error_calculate.py similarity index 92% rename from pp_stanley_plot_path_tracking_error.py rename to error_calculate.py index e6275c4..c900348 100644 --- a/pp_stanley_plot_path_tracking_error.py +++ b/error_calculate.py @@ -10,12 +10,12 @@ import matplotlib.pyplot as plt # 参数 # ============================================================ -LOG_PATTERN = "logs/mission_center_logger*.txt" +LOG_PATTERN = "path_visualizer.log" # 每 5 个完整数据取 1 个 -SAMPLE_STEP = 40 +SAMPLE_STEP = 1 -CSV_FILE = "recalculated_tracking_error.csv" +CSV_FILE = "tracking_error.csv" # ============================================================ @@ -74,6 +74,9 @@ current_path_pattern = re.compile( r"current_path_yaw:([-+0-9.eE]+)" ) +yaw_command_pattern = re.compile( + r"current_cmd_angular_z:([-+0-9.eE]+)" +) # ============================================================ # 3. 函数：角度归一化 @@ -178,6 +181,7 @@ def calculate_errors( # ============================================================ all_data = [] +yaw_command_data = [] total_raw_count = 0 @@ -202,6 +206,7 @@ for file in files: # -------------------------------------------------------- pending_pose = None + pending_yaw = None with file.open( @@ -222,7 +227,11 @@ for file in files: line ) - + m_yaw = yaw_command_pattern.search(line) + if m_yaw: + pending_yaw = float(m_yaw.group(1)) + if file_data_count % SAMPLE_STEP == 0: + yaw_command_data.append(pending_yaw) if m_pose: pending_pose = { @@ -351,6 +360,7 @@ for file in files: pending_pose = None + print( f"原始完整数据：{file_data_count}" ) @@ -447,6 +457,12 @@ alpha_deg = np.array([ for d in all_data ]) +yaw_command = yaw_command_data# 确保长度一致 + +print( + f"yaw size: {len(yaw_command)}" +) + # ============================================================ # 8. 计算车辆累计行驶距离 @@ -524,13 +540,16 @@ with open( "heading_error_deg", + "yaw_command", + ]) for i in range( len(all_data) ): - + if i>= len(yaw_command): + break writer.writerow([ f"{distance_m[i]:.8f}", @@ -545,6 +564,8 @@ with open( f"{alpha_deg[i]:.8f}", + f"{yaw_command[i]:.8f}" + ]) @@ -630,7 +651,43 @@ plt.grid(True) plt.tight_layout() plt.show() +# ============================================================ +# 14. yaw command rad +# ============================================================ +plt.figure( + figsize=(12, 5) +) + +plt.plot( + distance_m, + yaw_command, + linewidth=1.2 +) + +plt.axhline( + 0.0, + linestyle="--", + linewidth=0.8 +) + +plt.xlabel( + "Distance (m)" +) + +plt.ylabel( + "Yaw Command (rad)" +) + +plt.title( + "Recalculated Yaw Command" +) + +plt.grid(True) + +plt.tight_layout() + +plt.show() # ============================================================ # 15. 车辆轨迹 + 路径点 diff --git a/pp_lqr_stanley_error.py b/error_comparsion.py similarity index 51% rename from pp_lqr_stanley_error.py rename to error_comparsion.py index 6a24435..3a2ef8d 100644 --- a/pp_lqr_stanley_error.py +++ b/error_comparsion.py @@ -1,50 +1,71 @@ import csv import os +import re import matplotlib.pyplot as plt import numpy as np +import glob +# files = [ +# "stanley_*_*_*_*.csv", +# ] files = [ - "U_turn_0.32_lqr.csv", - "U_turn_0.32_pp.csv", - "U_turn_0.32_stanley.csv", + "lqr_*_*_*_*_*.csv", ] data = {} +for pattern in files: -for file in files: - if not os.path.exists(file): - raise FileNotFoundError(f"找不到文件: {file}") + matched_files = glob.glob(pattern) - distance = [] - lateral_error = [] - heading_error = [] - yaw_command = [] + if not matched_files: + raise FileNotFoundError( + f"找不到文件: {pattern}" + ) + matched_files.sort( + key=lambda x: ( + float(x.split("_")[1]), # 速度 + float(x.split("_")[2]), # 参数1 + float(x.split("_")[3]), # 参数2 + float(x.split("_")[4]), # 参数2 + float(x.split("_")[5].replace(".csv", "")) # 半径 + ) + ) - with open(file, "r", encoding="utf-8-sig", newline="") as f: - reader = csv.DictReader(f) + print(f"匹配到 {len(matched_files)} 个文件:") + for file in matched_files: + if not os.path.exists(file): + raise FileNotFoundError(f"找不到文件: {file}") - required = {"distance_m", "lateral_error_m", "heading_error_rad","yaw_command"} - if not required.issubset(reader.fieldnames or []): - raise ValueError( - f"{file} 缺少必要列，需要: {required}，实际列: {reader.fieldnames}" - ) + distance = [] + lateral_error = [] + heading_error = [] + yaw_command = [] - for row in reader: - try: - distance.append(float(row["distance_m"])) - lateral_error.append(abs(float(row["lateral_error_m"]))) - heading_error.append(abs(float(row["heading_error_rad"]))) - yaw_command.append(float(row["yaw_command"])) - except (ValueError, TypeError): - continue + with open(file, "r", encoding="utf-8-sig", newline="") as f: + reader = csv.DictReader(f) - name = os.path.splitext(os.path.basename(file))[0] - data[name] = { - "distance": distance, - "lateral_error": lateral_error, - "heading_error": heading_error, - "yaw_command": yaw_command, - } + required = {"distance_m", "lateral_error_m", "heading_error_rad","yaw_command"} + if not required.issubset(reader.fieldnames or []): + raise ValueError( + f"{file} 缺少必要列，需要: {required}，实际列: {reader.fieldnames}" + ) + + for row in reader: + try: + distance.append(float(row["distance_m"])) + lateral_error.append(abs(float(row["lateral_error_m"]))) + heading_error.append(abs(float(row["heading_error_rad"]))) + yaw_command.append(float(row["yaw_command"])) + except (ValueError, TypeError): + continue + + name = os.path.splitext(os.path.basename(file))[0] + data[name] = { + "distance": distance, + "lateral_error": lateral_error, + "heading_error": heading_error, + "yaw_command": yaw_command, + } # 颜色由 matplotlib 自动分配，不手动指定 names = list(data.keys()) @@ -56,21 +77,20 @@ plt.figure(figsize=(12, 6)) for name in names: plt.plot( - data[name]["distance"], - data[name]["lateral_error"], + data[name]["distance"][::15], + data[name]["lateral_error"][::15], label=name, linewidth=1.5, ) - plt.xlabel("Distance (m)") plt.ylabel("Lateral Error (m)") plt.title("Lateral Error Comparison") plt.grid(True, alpha=0.3) -plt.legend(["LQR", "Pure Pursuit", "Stanley"]) +plt.legend() plt.tight_layout() -lateral_output = "U_turn_lateral_error_comparison.png" +lateral_output = "X_Lateral_error_comparison.png" plt.savefig(lateral_output, dpi=200) plt.show() @@ -92,10 +112,10 @@ plt.xlabel("Distance (m)") plt.ylabel("Heading Error (rad)") plt.title("Heading Error Comparison") plt.grid(True, alpha=0.3) -plt.legend(["LQR", "Pure Pursuit", "Stanley"]) +plt.legend() plt.tight_layout() -heading_output = "U_turn_heading_error_comparison.png" +heading_output = "X_Heading_error_comparison.png" plt.savefig(heading_output, dpi=200) plt.show() @@ -118,10 +138,10 @@ plt.xlabel("Distance (m)") plt.ylabel("Yaw Command (rad)") plt.title("Yaw Command Comparison") plt.grid(True, alpha=0.3) -plt.legend(["LQR", "Pure Pursuit", "Stanley"]) +plt.legend() plt.tight_layout() -yaw_output = "U_turn_yaw_command_comparison.png" +yaw_output = "X_Yaw_command_comparison.png" plt.savefig(yaw_output, dpi=200) plt.show() print("读取完成：") @@ -134,7 +154,7 @@ print(heading_output) print(yaw_output) -print("\n" + "=" * 100) +print("\n" + "=" * 90) print( f"{'Controller':<20}" f"{'Lat Max(m)':>12}" diff --git a/lqr_Qe_effort_1.2_0.32_x_15_20_data/lqr_0.32_1.2_100_10_20.csv b/lqr_Qe_effort_1.2_0.32_x_15_20_data/lqr_0.32_1.2_100_10_20.csv new file mode 100644 index 0000000..7bd53cf --- /dev/null +++ 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+24.62464477,-3.20325852,8.52053196,-0.00057926,-0.00293438,-0.16812760,0.00000000 diff --git a/lqr_plot_path_tracking_error.py b/lqr_plot_path_tracking_error.py deleted file mode 100644 index 218f62f..0000000 --- a/lqr_plot_path_tracking_error.py +++ /dev/null @@ -1,355 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- - -""" -读取当前目录下： - mission_center_logger.txt - mission_center_logger1.txt - mission_center_logger2.txt - ... - -从 [path_follow] 日志中提取： - LQR: dis=..., alpha=... - path controller, current pose point:x:..., y:..., yaw:... - -绘制： - 1. 横向误差 dis 随实际行驶路程变化 - 2. 航向误差 alpha 随实际行驶路程变化 - -说明： -- dis：按你日志中的 LQR dis，单位通常是 m -- alpha：按你日志中的 alpha，单位是 rad -- 路程：根据连续 current pose 的 x/y 计算累计行驶距离 -- 日志中同一时刻可能重复打印多次，因此脚本会保留数据， - 但累计距离对相同位置不会增加。 -""" - -import re -from pathlib import Path - -import numpy as np -import matplotlib.pyplot as plt - - -# ============================================================ -# 1. 日志文件 -# ============================================================ - -LOG_PATTERN = "logs/mission_center_logger*.txt" - -files = sorted(Path(".").glob(LOG_PATTERN)) - -if not files: - raise FileNotFoundError( - f"当前目录没有找到 {LOG_PATTERN}" - ) - -print("找到日志文件：") -for f in files: - print(" ", f) - - -# ============================================================ -# 2. 正则表达式 -# ============================================================ - -# LQR: -# [LQR: dis=0.001038186, alpha=-0.003193076, ... -lqr_pattern = re.compile( - r"\[LQR:\s*" - r"dis=([-+0-9.eE]+),\s*" - r"alpha=([-+0-9.eE]+)" -) - -# current pose: -# [path controller, current pose point:x:24.68, y:1.16, yaw:0.026; -pose_pattern = re.compile( - r"current pose point:x:([-+0-9.eE]+),\s*" - r"y:([-+0-9.eE]+),\s*" - r"yaw:([-+0-9.eE]+)" -) - -yaw_command_pattern = re.compile( - r"PP output angular=([-+0-9.eE]+)" -) - -# ============================================================ -# 3. 读取日志 -# ============================================================ - -all_data = [] - -for file in files: - print(f"\n读取：{file}") - - pending_lqr = None - pending_yaw = None - - with file.open("r", encoding="utf-8", errors="ignore") as f: - for line in f: - - # ---- LQR误差 ---- - m_lqr = lqr_pattern.search(line) - if m_lqr: - dis = float(m_lqr.group(1)) - alpha = float(m_lqr.group(2)) - - pending_lqr = { - "dis": dis, - "alpha": alpha, - } - - # ---- 当前车辆位置 ---- - m_pose = pose_pattern.search(line) - m_yaw = yaw_command_pattern.search(line) - if m_yaw: - pending_yaw = float(m_yaw.group(1)) - if m_pose and pending_lqr is not None: - - x = float(m_pose.group(1)) - y = float(m_pose.group(2)) - yaw = float(m_pose.group(3)) - - - all_data.append({ - "file": file.name, - "x": x, - "y": y, - "yaw": yaw, - "dis": pending_lqr["dis"], - "alpha": pending_lqr["alpha"], - "yaw_command": pending_yaw, - }) - - pending_lqr = None - - -if not all_data: - raise RuntimeError( - "没有解析到数据，请检查日志格式是否和示例一致。" - ) - - -print(f"\n总共解析 {len(all_data)} 个数据点") - - -# ============================================================ -# 4. 根据 x/y 计算实际行驶路程 -# ============================================================ - -x = np.array([d["x"] for d in all_data]) -y = np.array([d["y"] for d in all_data]) - -dis = np.array([d["dis"] for d in all_data]) -alpha = np.array([d["alpha"] for d in all_data]) -yaw_command = np.array([d["yaw_command"] for d in all_data]) - -# 连续位置之间的距离 -step_distance = np.sqrt( - np.diff(x) ** 2 + - np.diff(y) ** 2 -) - -# 累计路程 -distance = np.zeros(len(x)) - -if len(x) > 1: - distance[1:] = np.cumsum(step_distance) - - -# ============================================================ -# 5. 如果希望横向误差取绝对值，可以取消下面注释 -# ============================================================ - -# dis = np.abs(dis) - -# 注意： -# 不建议默认取绝对值。 -# 保留正负号可以观察车辆是在路径左侧还是右侧。 - - -# ============================================================ -# 6. 输出基本统计信息 -# ============================================================ - -print("\n========== 误差统计 ==========") - -print( - f"总行驶距离 : {distance[-1]:.3f} m" -) - -print( - f"横向误差最大值 : {np.max(dis):.6f} m" -) - -print( - f"横向误差最小值 : {np.min(dis):.6f} m" -) - -print( - f"横向误差绝对最大: {np.max(np.abs(dis)):.6f} m" -) - -print( - f"横向误差 RMS : {np.sqrt(np.mean(dis ** 2)):.6f} m" -) - -print( - f"航向误差最大值 : {np.max(alpha):.6f} rad " - f"({np.degrees(np.max(alpha)):.3f} deg)" -) - -print( - f"航向误差最小值 : {np.min(alpha):.6f} rad " - f"({np.degrees(np.min(alpha)):.3f} deg)" -) - -print( - f"航向误差绝对最大: {np.max(np.abs(alpha)):.6f} rad " - f"({np.degrees(np.max(np.abs(alpha))):.3f} deg)" -) - -print( - f"航向误差 RMS : {np.sqrt(np.mean(alpha ** 2)):.6f} rad " - f"({np.degrees(np.sqrt(np.mean(alpha ** 2))):.3f} deg)" -) - - -# ============================================================ -# 7. 转换航向误差为角度 -# ============================================================ - -alpha_deg = np.degrees(alpha) - - -# ============================================================ -# 8. 图1：横向误差 -# ============================================================ - -plt.figure(figsize=(12, 5)) - -plt.plot( - distance, - dis, - linewidth=2.0 -) - -plt.axhline( - 0.0, - linestyle="--", - linewidth=0.8 -) - -plt.xlabel("Travel Distance (m)") -plt.ylabel("Lateral Error dis (m)") -plt.title("Lateral Error vs Travel Distance") -plt.grid(True, alpha=0.3) - -plt.tight_layout() - -plt.savefig( - "lateral_error_vs_distance.png", - dpi=200 -) - -plt.show() - - -# ============================================================ -# 9. 图2：航向误差 -# ============================================================ - -plt.figure(figsize=(12, 5)) - -plt.plot( - distance, - alpha_deg, - linewidth=2.0 -) - -plt.axhline( - 0.0, - linestyle="--", - linewidth=0.8 -) - -plt.xlabel("Travel Distance (m)") -plt.ylabel("Heading Error alpha (deg)") -plt.title("Heading Error vs Travel Distance") -plt.grid(True, alpha=0.3) - -plt.tight_layout() - -plt.savefig( - "heading_error_vs_distance.png", - dpi=200 -) - -plt.show() - -# ============================================================ -# 13. 航向误差 rad -# ============================================================ - -plt.figure( - figsize=(12, 5) -) - -plt.plot( - distance, - yaw_command, - linewidth=1.2 -) - -plt.axhline( - 0.0, - linestyle="--", - linewidth=0.8 -) - -plt.xlabel( - "Distance (m)" -) - -plt.ylabel( - "Yaw Command (rad)" -) - -plt.title( - "Recalculated Yaw Command" -) - -plt.grid(True) - -plt.tight_layout() - -plt.show() -# ============================================================ -# 10. 同时保存 CSV，方便后续 MATLAB / Excel 分析 -# ============================================================ - -output = np.column_stack( - ( - distance, - x, - y, - dis, - alpha, - alpha_deg, - yaw_command, - ) -) - -np.savetxt( - "path_tracking_error.csv", - output, - delimiter=",", - header="distance_m,x_m,y_m,lateral_error_m,heading_error_rad,heading_error_deg,yaw_command", - comments="", - fmt="%.8f" -) - -print("\n输出文件：") -print(" lateral_error_vs_distance.png") -print(" heading_error_vs_distance.png") -print(" path_tracking_error.csv") diff --git a/lqr_radius_effort_0.64_x_100_5_25_data/lqr_0.64_1.0_100_5_25.csv b/lqr_radius_effort_0.64_x_100_5_25_data/lqr_0.64_1.0_100_5_25.csv new file mode 100644 index 0000000..535c01d --- /dev/null +++ b/lqr_radius_effort_0.64_x_100_5_25_data/lqr_0.64_1.0_100_5_25.csv @@ -0,0 +1,1177 @@ +distance_m,current_x_m,current_y_m,lateral_error_m,heading_error_rad,heading_error_deg,yaw_command +0.00000000,0.00000000,0.00000000,0.00000000,0.00000777,0.00044540,0.00001291 +0.00000000,0.00000000,0.00000000,0.00000000,0.00000777,0.00044540,0.00001291 +0.00000000,0.00000000,0.00000000,0.00000000,0.00000777,0.00044540,0.00001291 +0.00000000,0.00101846,0.00190493,-0.00190494,0.00001076,0.00061645,-0.00376049 +0.00000000,0.00101846,0.00190493,-0.00190494,0.00001076,0.00061645,-0.00376049 +0.00000000,0.00998646,0.00284354,-0.00284366,0.00001190,0.00068185,-0.00562027 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+# 地球半径（m） +EARTH_RADIUS = 6378137.0 + + +# +first_line_length = 6.0 +first_arc_rad = math.pi # 180° 半圆 + +second_line_length = 8.0 +second_arc_rad = math.pi / 2 # 90° 四分之一圆 + +third_line_length = 5.0 + + + +# ============================================================ +# 工具函数 +# ============================================================ + +def normalize_yaw(yaw): + """将 yaw 归一化到 [-pi, pi]。""" + return math.atan2(math.sin(yaw), math.cos(yaw)) + + +def local_to_latlon(x, y): + """ + 局部 ENU 坐标转经纬度。 + x: East，向东为正，单位 m + y: North，向北为正，单位 m + """ + lat0 = math.radians(START_LAT) + + lat = START_LAT + math.degrees(y / EARTH_RADIUS) + lon = START_LON + math.degrees( + x / (EARTH_RADIUS * math.cos(lat0)) + ) + + return lat, lon + + +def add_point(points, x, y, yaw): + """添加一个 [latitude, longitude, yaw] 路径点。""" + lat, lon = local_to_latlon(x, y) + + points.append([ + round(lat, 12), + round(lon, 12), + round(normalize_yaw(yaw), 9) + ]) + + +def add_arc(points, cx, cy, radius, + start_angle, sweep_angle, spacing): + """ + 添加圆弧采样点，不重复添加圆弧起点。 + yaw 为圆弧的切线方向，单位 rad。 + """ + arc_length = abs(radius * sweep_angle) + num_segments = max(1, math.ceil(arc_length / spacing)) + + for i in range(1, num_segments + 1): + ratio = i / num_segments + angle = start_angle + sweep_angle * ratio + + x = cx + radius * math.cos(angle) + y = cy + radius * math.sin(angle) + + # CCW 左转时，切线方向 = 圆心角 + pi/2 + yaw = angle + ( + math.pi / 2 if sweep_angle > 0 + else -math.pi / 2 + ) + + add_point(points, x, y, yaw) + + + +coordinates = [] + +# 1. 第一段直线：长度 6 m +# 起点 (0, 0)，终点 (6, 0) +add_point(coordinates, 0, 0, 0.0) +add_point(coordinates, first_line_length, 0, 0.0) + +# 第一段圆弧起始索引 +first_turn_index = len(coordinates) - 1 + +# 2. 第一段半圆：R=1，逆时针 180° +# 圆心 (6, 1)，从 -90° 转到 90° +add_arc( + coordinates, + cx=first_line_length, + cy=TURN_RADIUS, + radius=TURN_RADIUS, + start_angle=-math.pi / 2, + sweep_angle= first_arc_rad, + spacing=ARC_SPACING +) + +# 3. 第二段直线：长度 8 m +# 半圆终点 (6, 2)，直线终点 (-2, 2) +second_line_end_x = first_line_length - second_line_length +second_line_end_y = 2 * TURN_RADIUS + +add_point( + coordinates, + second_line_end_x, + second_line_end_y, + math.pi +) +# 第二段圆弧起始索引 +second_turn_index = len(coordinates) - 1 + +# 4. 第二段四分之一圆：顺时针 90° +# 与第一段圆弧方向相反 +second_arc_cx = second_line_end_x +second_arc_cy = second_line_end_y + TURN_RADIUS + +add_arc( + coordinates, + cx=second_arc_cx, + cy=second_arc_cy, + radius=TURN_RADIUS, + start_angle=-math.pi / 2, + sweep_angle=-second_arc_rad, + spacing=ARC_SPACING +) + +# 5. 最后一段直线：长度 5 m + +third_line_start_x = second_arc_cx +third_line_start_y = second_arc_cy + +add_point( + coordinates, + third_line_start_x - TURN_RADIUS, + third_line_start_y + third_line_length, + math.pi / 2 +) + + +# ============================================================ +# 构造符合现有项目的 GeoJSON +# ============================================================ + +path_json = { + "type": "FeatureCollection", + "properties": { + "turnRadius": TURN_RADIUS, + "misionSpeed": MISSION_SPEED, + "k_yaw": K_YAW, + "k_lat": K_LAT, + "lqr_Q_e": Q_e, + "lqr_Q_h": Q_h, + "lqr_R_u": R_u + }, + "features": [ + { + "type": "Feature", + "properties": { + "turnInds": [ + first_turn_index, + second_turn_index + ], + "mission": [], + + }, + "geometry": { + "type": "LineString", + "coordinates": coordinates + } + } + ] +} + + +# ============================================================ +# 保存文件 +# ============================================================ + +output_file = "test_path.json" + +with open(output_file, "w", encoding="utf-8") as f: + json.dump( + path_json, + f, + ensure_ascii=False, + indent=2 + ) + +print(f"JSON 文件已生成: {output_file}") +print(f"路径点数量: {len(coordinates)}") +print(f"turnInds: {path_json['features'][0]['properties']['turnInds']}") +print(f"起点: {coordinates[0]}") +print(f"终点: {coordinates[-1]}") + + +fig, ax = plt.subplots(figsize=(10, 6)) +ax.plot([p[0] for p in coordinates], [p[1] for p in coordinates], "-o", markersize=3, label="Path") + +ax.set_xlabel("X (m)") +ax.set_ylabel("Y (m)") +ax.axis("equal") +ax.grid(True) +ax.legend() +plt.tight_layout() +plt.show() \ No newline at end of file diff --git a/path_visualizer.log b/path_visualizer.log new file mode 100644 index 0000000..057654b --- /dev/null +++ b/path_visualizer.log @@ -0,0 +1,6011 @@ +[2026-10-09 17:42:10.649] [path_visualizer] [info] PathVisualizer started +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:1, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:2, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:3, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:4, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:5, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:6, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:7, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:8, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:9, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:10, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:11, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:12, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:13, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:14, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:15, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:16, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:17, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:18, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:19, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:20, kappa:0.0 +[2026-10-09 17:42:20.748] [path_visualizer] [debug] path ind:21, kappa:0.0 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17:42:20.769] [path_visualizer] [debug] current_pose_x:0.0, current_pose_y:0.0,current_pose_yaw:-7.77364220994059e-06 +[2026-10-09 17:42:20.769] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 +[2026-10-09 17:42:20.769] [path_visualizer] [debug] current_cmd_angular_z:1.2906594338458477e-05 +[2026-10-09 17:42:20.820] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:20.820] [path_visualizer] [debug] current_pose_x:0.0, current_pose_y:0.0,current_pose_yaw:-7.77364220994059e-06 +[2026-10-09 17:42:20.820] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 +[2026-10-09 17:42:20.820] [path_visualizer] [debug] current_cmd_angular_z:1.2906594338458477e-05 +[2026-10-09 17:42:20.869] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:20.869] [path_visualizer] [debug] current_pose_x:0.0, current_pose_y:0.0,current_pose_yaw:-7.77364220994059e-06 +[2026-10-09 17:42:20.869] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 +[2026-10-09 17:42:20.869] [path_visualizer] [debug] current_cmd_angular_z:1.2906594338458477e-05 +[2026-10-09 17:42:20.918] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:20.918] [path_visualizer] [debug] current_pose_x:0.0010184569929148428, current_pose_y:0.0019049334850793588,current_pose_yaw:-1.0759074939414857e-05 +[2026-10-09 17:42:20.918] [path_visualizer] [debug] current_path_x:0.0, current_path_y:0.0,current_path_yaw:0.0 +[2026-10-09 17:42:20.918] [path_visualizer] [debug] current_cmd_angular_z:-0.0037604872761463023 +[2026-10-09 17:42:20.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:20.974] [path_visualizer] [debug] current_pose_x:0.0010184569929148428, current_pose_y:0.0019049334850793588,current_pose_yaw:-1.0759074939414857e-05 +[2026-10-09 17:42:20.975] [path_visualizer] [debug] current_path_x:0.0, 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17:42:22.324] [path_visualizer] [debug] current_pose_x:0.4492243482514397, current_pose_y:0.008620076400213707,current_pose_yaw:-0.0024991382379084826 +[2026-10-09 17:42:22.324] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.324] [path_visualizer] [debug] current_cmd_angular_z:-0.012947998199688858 +[2026-10-09 17:42:22.375] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.375] [path_visualizer] [debug] current_pose_x:0.4492243482514397, current_pose_y:0.008620076400213707,current_pose_yaw:-0.0024991382379084826 +[2026-10-09 17:42:22.375] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.375] [path_visualizer] [debug] current_cmd_angular_z:-0.012947998199688858 +[2026-10-09 17:42:22.419] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.419] [path_visualizer] [debug] current_pose_x:0.4492243482514397, current_pose_y:0.008620076400213707,current_pose_yaw:-0.0024991382379084826 +[2026-10-09 17:42:22.419] [path_visualizer] [debug] current_path_x:0.3874369485277176, current_path_y:1.080895245280315e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.419] [path_visualizer] [debug] current_cmd_angular_z:-0.012947998199688858 +[2026-10-09 17:42:22.477] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.477] [path_visualizer] [debug] current_pose_x:0.4998277244016327, current_pose_y:0.008965125525002171,current_pose_yaw:-0.0029346677474677563 +[2026-10-09 17:42:22.477] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.477] [path_visualizer] [debug] current_cmd_angular_z:-0.012909169999990647 +[2026-10-09 17:42:22.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.519] [path_visualizer] [debug] current_pose_x:0.4998277244016327, current_pose_y:0.008965125525002171,current_pose_yaw:-0.0029346677474677563 +[2026-10-09 17:42:22.519] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.519] [path_visualizer] [debug] current_cmd_angular_z:-0.012909169999990647 +[2026-10-09 17:42:22.571] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.572] [path_visualizer] [debug] current_pose_x:0.4998277244016327, current_pose_y:0.008965125525002171,current_pose_yaw:-0.0029346677474677563 +[2026-10-09 17:42:22.572] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.572] [path_visualizer] [debug] current_cmd_angular_z:-0.012909169999990647 +[2026-10-09 17:42:22.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.624] [path_visualizer] [debug] current_pose_x:0.550429848472157, current_pose_y:0.00928808404475087,current_pose_yaw:-0.003370186081156135 +[2026-10-09 17:42:22.624] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.624] [path_visualizer] [debug] current_cmd_angular_z:-0.012826651821330536 +[2026-10-09 17:42:22.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.673] [path_visualizer] [debug] current_pose_x:0.550429848472157, current_pose_y:0.00928808404475087,current_pose_yaw:-0.003370186081156135 +[2026-10-09 17:42:22.674] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.674] [path_visualizer] [debug] current_cmd_angular_z:-0.012826651821330536 +[2026-10-09 17:42:22.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.722] [path_visualizer] [debug] current_pose_x:0.6010245036422167, current_pose_y:0.009592747749640152,current_pose_yaw:-0.0038043211679905653 +[2026-10-09 17:42:22.722] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.722] [path_visualizer] [debug] current_cmd_angular_z:-0.012710143301138635 +[2026-10-09 17:42:22.768] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.768] [path_visualizer] [debug] current_pose_x:0.6010245036422167, current_pose_y:0.009592747749640152,current_pose_yaw:-0.0038043211679905653 +[2026-10-09 17:42:22.768] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.768] [path_visualizer] [debug] current_cmd_angular_z:-0.012710143301138635 +[2026-10-09 17:42:22.824] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.824] [path_visualizer] [debug] current_pose_x:0.6010245036422167, current_pose_y:0.009592747749640152,current_pose_yaw:-0.0038043211679905653 +[2026-10-09 17:42:22.824] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.824] [path_visualizer] [debug] current_cmd_angular_z:-0.012710143301138635 +[2026-10-09 17:42:22.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.871] [path_visualizer] [debug] current_pose_x:0.6516051377924635, current_pose_y:0.009875307016826006,current_pose_yaw:-0.004236338194459677 +[2026-10-09 17:42:22.871] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.871] [path_visualizer] [debug] current_cmd_angular_z:-0.012553308234849056 +[2026-10-09 17:42:22.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.925] [path_visualizer] [debug] current_pose_x:0.6516051377924635, current_pose_y:0.009875307016826006,current_pose_yaw:-0.004236338194459677 +[2026-10-09 17:42:22.925] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.925] [path_visualizer] [debug] current_cmd_angular_z:-0.012553308234849056 +[2026-10-09 17:42:22.972] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:22.973] [path_visualizer] [debug] current_pose_x:0.6516051377924635, current_pose_y:0.009875307016826006,current_pose_yaw:-0.004236338194459677 +[2026-10-09 17:42:22.973] [path_visualizer] [debug] current_path_x:0.5811554227915764, current_path_y:1.6213428679204724e-07,current_path_yaw:0.0 +[2026-10-09 17:42:22.973] [path_visualizer] [debug] current_cmd_angular_z:-0.012553308234849056 +[2026-10-09 17:42:23.020] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.020] [path_visualizer] [debug] current_pose_x:0.702187309984736, current_pose_y:0.01014089409326744,current_pose_yaw:-0.004664064384996891 +[2026-10-09 17:42:23.020] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.020] [path_visualizer] [debug] current_cmd_angular_z:-0.012369826473780841 +[2026-10-09 17:42:23.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.073] [path_visualizer] [debug] current_pose_x:0.702187309984736, current_pose_y:0.01014089409326744,current_pose_yaw:-0.004664064384996891 +[2026-10-09 17:42:23.073] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.073] [path_visualizer] [debug] current_cmd_angular_z:-0.012369826473780841 +[2026-10-09 17:42:23.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.125] [path_visualizer] [debug] current_pose_x:0.752764821569851, current_pose_y:0.01039257779888624,current_pose_yaw:-0.005086677148938179 +[2026-10-09 17:42:23.125] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.125] [path_visualizer] [debug] current_cmd_angular_z:-0.012167365025093637 +[2026-10-09 17:42:23.175] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.176] [path_visualizer] [debug] current_pose_x:0.752764821569851, current_pose_y:0.01039257779888624,current_pose_yaw:-0.005086677148938179 +[2026-10-09 17:42:23.176] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.176] [path_visualizer] [debug] current_cmd_angular_z:-0.012167365025093637 +[2026-10-09 17:42:23.219] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.219] [path_visualizer] [debug] current_pose_x:0.752764821569851, current_pose_y:0.01039257779888624,current_pose_yaw:-0.005086677148938179 +[2026-10-09 17:42:23.219] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.219] [path_visualizer] [debug] current_cmd_angular_z:-0.012167365025093637 +[2026-10-09 17:42:23.268] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.268] [path_visualizer] [debug] current_pose_x:0.8033266394061838, current_pose_y:0.01063451901543472,current_pose_yaw:-0.0055085583589971066 +[2026-10-09 17:42:23.269] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.269] [path_visualizer] [debug] current_cmd_angular_z:-0.011946794384370494 +[2026-10-09 17:42:23.322] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.322] [path_visualizer] [debug] current_pose_x:0.8033266394061838, current_pose_y:0.01063451901543472,current_pose_yaw:-0.0055085583589971066 +[2026-10-09 17:42:23.322] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.323] [path_visualizer] [debug] current_cmd_angular_z:-0.011946794384370494 +[2026-10-09 17:42:23.368] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.368] [path_visualizer] [debug] current_pose_x:0.8538846845351913, current_pose_y:0.010864260624502364,current_pose_yaw:-0.005923835095018149 +[2026-10-09 17:42:23.368] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.368] [path_visualizer] [debug] current_cmd_angular_z:-0.01171299178840955 +[2026-10-09 17:42:23.424] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.424] [path_visualizer] [debug] current_pose_x:0.8538846845351913, current_pose_y:0.010864260624502364,current_pose_yaw:-0.005923835095018149 +[2026-10-09 17:42:23.424] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.425] [path_visualizer] [debug] current_cmd_angular_z:-0.01171299178840955 +[2026-10-09 17:42:23.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.472] [path_visualizer] [debug] current_pose_x:0.8538846845351913, current_pose_y:0.010864260624502364,current_pose_yaw:-0.005923835095018149 +[2026-10-09 17:42:23.472] [path_visualizer] [debug] current_path_x:0.7748738970554352, current_path_y:2.16179049056063e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.472] [path_visualizer] [debug] current_cmd_angular_z:-0.01171299178840955 +[2026-10-09 17:42:23.523] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.523] [path_visualizer] [debug] current_pose_x:0.904443373218218, current_pose_y:0.01108380314543075,current_pose_yaw:-0.006329546216875315 +[2026-10-09 17:42:23.523] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.523] [path_visualizer] [debug] current_cmd_angular_z:-0.011474734369822218 +[2026-10-09 17:42:23.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.573] [path_visualizer] [debug] current_pose_x:0.904443373218218, current_pose_y:0.01108380314543075,current_pose_yaw:-0.006329546216875315 +[2026-10-09 17:42:23.573] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.573] [path_visualizer] [debug] current_cmd_angular_z:-0.011474734369822218 +[2026-10-09 17:42:23.618] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.618] [path_visualizer] [debug] current_pose_x:0.904443373218218, current_pose_y:0.01108380314543075,current_pose_yaw:-0.006329546216875315 +[2026-10-09 17:42:23.618] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.618] [path_visualizer] [debug] current_cmd_angular_z:-0.011474734369822218 +[2026-10-09 17:42:23.669] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.669] [path_visualizer] [debug] current_pose_x:0.955002717225792, current_pose_y:0.011289413976890754,current_pose_yaw:-0.006729498971253633 +[2026-10-09 17:42:23.669] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.669] [path_visualizer] [debug] current_cmd_angular_z:-0.01121851189153538 +[2026-10-09 17:42:23.725] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.725] [path_visualizer] [debug] current_pose_x:0.955002717225792, current_pose_y:0.011289413976890754,current_pose_yaw:-0.006729498971253633 +[2026-10-09 17:42:23.725] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.725] [path_visualizer] [debug] current_cmd_angular_z:-0.01121851189153538 +[2026-10-09 17:42:23.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.769] [path_visualizer] [debug] current_pose_x:1.0055647524615288, current_pose_y:0.011485712017009205,current_pose_yaw:-0.007119884714484216 +[2026-10-09 17:42:23.769] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.769] [path_visualizer] [debug] current_cmd_angular_z:-0.010959702035573957 +[2026-10-09 17:42:23.818] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.818] [path_visualizer] [debug] current_pose_x:1.0055647524615288, current_pose_y:0.011485712017009205,current_pose_yaw:-0.007119884714484216 +[2026-10-09 17:42:23.818] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.818] [path_visualizer] [debug] current_cmd_angular_z:-0.010959702035573957 +[2026-10-09 17:42:23.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.871] [path_visualizer] [debug] current_pose_x:1.0055647524615288, current_pose_y:0.011485712017009205,current_pose_yaw:-0.007119884714484216 +[2026-10-09 17:42:23.871] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.871] [path_visualizer] [debug] current_cmd_angular_z:-0.010959702035573957 +[2026-10-09 17:42:23.926] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.926] [path_visualizer] [debug] current_pose_x:1.0561257907235326, current_pose_y:0.011670387760843027,current_pose_yaw:-0.00750308483839035 +[2026-10-09 17:42:23.926] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.926] [path_visualizer] [debug] current_cmd_angular_z:-0.010689770172107855 +[2026-10-09 17:42:23.970] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:23.970] [path_visualizer] [debug] current_pose_x:1.0561257907235326, current_pose_y:0.011670387760843027,current_pose_yaw:-0.00750308483839035 +[2026-10-09 17:42:23.970] [path_visualizer] [debug] current_path_x:0.968592371319294, current_path_y:2.7022381132007877e-07,current_path_yaw:0.0 +[2026-10-09 17:42:23.970] [path_visualizer] [debug] current_cmd_angular_z:-0.010689770172107855 +[2026-10-09 17:42:24.020] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.020] [path_visualizer] [debug] current_pose_x:1.1066868118659823, current_pose_y:0.011847175081119333,current_pose_yaw:-0.007876231335103512 +[2026-10-09 17:42:24.020] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.020] [path_visualizer] [debug] current_cmd_angular_z:-0.010420776835184817 +[2026-10-09 17:42:24.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.073] [path_visualizer] [debug] current_pose_x:1.1066868118659823, current_pose_y:0.011847175081119333,current_pose_yaw:-0.007876231335103512 +[2026-10-09 17:42:24.073] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.073] [path_visualizer] [debug] current_cmd_angular_z:-0.010420776835184817 +[2026-10-09 17:42:24.124] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.124] [path_visualizer] [debug] current_pose_x:1.1066868118659823, current_pose_y:0.011847175081119333,current_pose_yaw:-0.007876231335103512 +[2026-10-09 17:42:24.124] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.124] [path_visualizer] [debug] current_cmd_angular_z:-0.010420776835184817 +[2026-10-09 17:42:24.173] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.173] [path_visualizer] [debug] current_pose_x:1.1572484105919192, current_pose_y:0.012011618488706995,current_pose_yaw:-0.00824362225830555 +[2026-10-09 17:42:24.173] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.173] [path_visualizer] [debug] current_cmd_angular_z:-0.01013696308414548 +[2026-10-09 17:42:24.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.225] [path_visualizer] [debug] current_pose_x:1.1572484105919192, current_pose_y:0.012011618488706995,current_pose_yaw:-0.00824362225830555 +[2026-10-09 17:42:24.225] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.225] [path_visualizer] [debug] current_cmd_angular_z:-0.01013696308414548 +[2026-10-09 17:42:24.273] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.273] [path_visualizer] [debug] current_pose_x:1.2078104828309442, current_pose_y:0.012172766245961537,current_pose_yaw:-0.00859761517494917 +[2026-10-09 17:42:24.273] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.273] [path_visualizer] [debug] current_cmd_angular_z:-0.009868857295856535 +[2026-10-09 17:42:24.323] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.323] [path_visualizer] [debug] current_pose_x:1.2078104828309442, current_pose_y:0.012172766245961537,current_pose_yaw:-0.00859761517494917 +[2026-10-09 17:42:24.323] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.323] [path_visualizer] [debug] current_cmd_angular_z:-0.009868857295856535 +[2026-10-09 17:42:24.371] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.371] [path_visualizer] [debug] current_pose_x:1.2078104828309442, current_pose_y:0.012172766245961537,current_pose_yaw:-0.00859761517494917 +[2026-10-09 17:42:24.371] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.371] [path_visualizer] [debug] current_cmd_angular_z:-0.009868857295856535 +[2026-10-09 17:42:24.419] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.419] [path_visualizer] [debug] current_pose_x:1.2583735831527556, current_pose_y:0.012327418897311178,current_pose_yaw:-0.008941554464399815 +[2026-10-09 17:42:24.419] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.419] [path_visualizer] [debug] current_cmd_angular_z:-0.00960456081289532 +[2026-10-09 17:42:24.478] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.478] [path_visualizer] [debug] current_pose_x:1.2583735831527556, current_pose_y:0.012327418897311178,current_pose_yaw:-0.008941554464399815 +[2026-10-09 17:42:24.478] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.478] [path_visualizer] [debug] current_cmd_angular_z:-0.00960456081289532 +[2026-10-09 17:42:24.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.525] [path_visualizer] [debug] current_pose_x:1.2583735831527556, current_pose_y:0.012327418897311178,current_pose_yaw:-0.008941554464399815 +[2026-10-09 17:42:24.525] [path_visualizer] [debug] current_path_x:1.1623108455831528, current_path_y:3.242685735840945e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.525] [path_visualizer] [debug] current_cmd_angular_z:-0.00960456081289532 +[2026-10-09 17:42:24.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.574] [path_visualizer] [debug] current_pose_x:1.3089388424152266, current_pose_y:0.012472948434054686,current_pose_yaw:-0.009278293699026108 +[2026-10-09 17:42:24.574] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.574] [path_visualizer] [debug] current_cmd_angular_z:-0.009334016109718428 +[2026-10-09 17:42:24.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.625] [path_visualizer] [debug] current_pose_x:1.3089388424152266, current_pose_y:0.012472948434054686,current_pose_yaw:-0.009278293699026108 +[2026-10-09 17:42:24.625] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.625] [path_visualizer] [debug] current_cmd_angular_z:-0.009334016109718428 +[2026-10-09 17:42:24.668] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.668] [path_visualizer] [debug] current_pose_x:1.359502474559761, current_pose_y:0.012612328813437048,current_pose_yaw:-0.00960545428097248 +[2026-10-09 17:42:24.668] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.668] [path_visualizer] [debug] current_cmd_angular_z:-0.009067285479576023 +[2026-10-09 17:42:24.723] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.723] [path_visualizer] [debug] current_pose_x:1.359502474559761, current_pose_y:0.012612328813437048,current_pose_yaw:-0.00960545428097248 +[2026-10-09 17:42:24.723] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.723] [path_visualizer] [debug] current_cmd_angular_z:-0.009067285479576023 +[2026-10-09 17:42:24.771] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.771] [path_visualizer] [debug] current_pose_x:1.359502474559761, current_pose_y:0.012612328813437048,current_pose_yaw:-0.00960545428097248 +[2026-10-09 17:42:24.771] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.771] [path_visualizer] [debug] current_cmd_angular_z:-0.009067285479576023 +[2026-10-09 17:42:24.828] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.828] [path_visualizer] [debug] current_pose_x:1.4100666281335492, current_pose_y:0.0127416994344269,current_pose_yaw:-0.009926852770149708 +[2026-10-09 17:42:24.828] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.828] [path_visualizer] [debug] current_cmd_angular_z:-0.008790267754802215 +[2026-10-09 17:42:24.868] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.868] [path_visualizer] [debug] current_pose_x:1.4100666281335492, current_pose_y:0.0127416994344269,current_pose_yaw:-0.009926852770149708 +[2026-10-09 17:42:24.868] [path_visualizer] [debug] current_path_x:1.3560293198470115, current_path_y:3.7831333584811025e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.868] [path_visualizer] [debug] current_cmd_angular_z:-0.008790267754802215 +[2026-10-09 17:42:24.922] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.922] [path_visualizer] [debug] current_pose_x:1.4606312251951086, current_pose_y:0.01287009927157819,current_pose_yaw:-0.010234847664833069 +[2026-10-09 17:42:24.922] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.922] [path_visualizer] [debug] current_cmd_angular_z:-0.008533471344046788 +[2026-10-09 17:42:24.972] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:24.973] [path_visualizer] [debug] current_pose_x:1.4606312251951086, current_pose_y:0.01287009927157819,current_pose_yaw:-0.010234847664833069 +[2026-10-09 17:42:24.973] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:24.973] [path_visualizer] [debug] current_cmd_angular_z:-0.008533471344046788 +[2026-10-09 17:42:25.018] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.018] [path_visualizer] [debug] current_pose_x:1.4606312251951086, current_pose_y:0.01287009927157819,current_pose_yaw:-0.010234847664833069 +[2026-10-09 17:42:25.018] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.018] [path_visualizer] [debug] current_cmd_angular_z:-0.008533471344046788 +[2026-10-09 17:42:25.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.071] [path_visualizer] [debug] current_pose_x:1.5111963221242495, current_pose_y:0.01299158914299411,current_pose_yaw:-0.010535169392824173 +[2026-10-09 17:42:25.071] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.071] [path_visualizer] [debug] current_cmd_angular_z:-0.008275816294503687 +[2026-10-09 17:42:25.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.125] [path_visualizer] [debug] current_pose_x:1.5111963221242495, current_pose_y:0.01299158914299411,current_pose_yaw:-0.010535169392824173 +[2026-10-09 17:42:25.125] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.125] [path_visualizer] [debug] current_cmd_angular_z:-0.008275816294503687 +[2026-10-09 17:42:25.170] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.170] [path_visualizer] [debug] current_pose_x:1.5111963221242495, current_pose_y:0.01299158914299411,current_pose_yaw:-0.010535169392824173 +[2026-10-09 17:42:25.170] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.170] [path_visualizer] [debug] current_cmd_angular_z:-0.008275816294503687 +[2026-10-09 17:42:25.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.225] [path_visualizer] [debug] current_pose_x:1.5617619085121097, current_pose_y:0.013106716858958797,current_pose_yaw:-0.010827804915606976 +[2026-10-09 17:42:25.225] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.225] [path_visualizer] [debug] current_cmd_angular_z:-0.008018303615934533 +[2026-10-09 17:42:25.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.269] [path_visualizer] [debug] current_pose_x:1.5617619085121097, current_pose_y:0.013106716858958797,current_pose_yaw:-0.010827804915606976 +[2026-10-09 17:42:25.269] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.269] [path_visualizer] [debug] current_cmd_angular_z:-0.008018303615934533 +[2026-10-09 17:42:25.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.325] [path_visualizer] [debug] current_pose_x:1.6123279370798707, current_pose_y:0.013220124963089011,current_pose_yaw:-0.0111089451238513 +[2026-10-09 17:42:25.325] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.325] [path_visualizer] [debug] current_cmd_angular_z:-0.007776465858652198 +[2026-10-09 17:42:25.373] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.373] [path_visualizer] [debug] current_pose_x:1.6123279370798707, current_pose_y:0.013220124963089011,current_pose_yaw:-0.0111089451238513 +[2026-10-09 17:42:25.373] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.373] [path_visualizer] [debug] current_cmd_angular_z:-0.007776465858652198 +[2026-10-09 17:42:25.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.425] [path_visualizer] [debug] current_pose_x:1.6123279370798707, current_pose_y:0.013220124963089011,current_pose_yaw:-0.0111089451238513 +[2026-10-09 17:42:25.425] [path_visualizer] [debug] current_path_x:1.5497477941108704, current_path_y:4.32358098112126e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.425] [path_visualizer] [debug] current_cmd_angular_z:-0.007776465858652198 +[2026-10-09 17:42:25.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.473] [path_visualizer] [debug] current_pose_x:1.6628944567298065, current_pose_y:0.01332585484055044,current_pose_yaw:-0.011384312994778156 +[2026-10-09 17:42:25.473] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.473] [path_visualizer] [debug] current_cmd_angular_z:-0.0075288753095752135 +[2026-10-09 17:42:25.527] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.527] [path_visualizer] [debug] current_pose_x:1.6628944567298065, current_pose_y:0.01332585484055044,current_pose_yaw:-0.011384312994778156 +[2026-10-09 17:42:25.527] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.527] [path_visualizer] [debug] current_cmd_angular_z:-0.0075288753095752135 +[2026-10-09 17:42:25.572] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.572] [path_visualizer] [debug] current_pose_x:1.713452577741482, current_pose_y:0.013444022165413754,current_pose_yaw:-0.011644663289189337 +[2026-10-09 17:42:25.572] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.572] [path_visualizer] [debug] current_cmd_angular_z:-0.00733099479151526 +[2026-10-09 17:42:25.623] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.624] [path_visualizer] [debug] current_pose_x:1.713452577741482, current_pose_y:0.013444022165413754,current_pose_yaw:-0.011644663289189337 +[2026-10-09 17:42:25.624] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.624] [path_visualizer] [debug] current_cmd_angular_z:-0.00733099479151526 +[2026-10-09 17:42:25.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.674] [path_visualizer] [debug] current_pose_x:1.713452577741482, current_pose_y:0.013444022165413754,current_pose_yaw:-0.011644663289189337 +[2026-10-09 17:42:25.674] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.674] [path_visualizer] [debug] current_cmd_angular_z:-0.00733099479151526 +[2026-10-09 17:42:25.724] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.724] [path_visualizer] [debug] current_pose_x:1.7640004747234599, current_pose_y:0.013572585339792973,current_pose_yaw:-0.011889868415892124 +[2026-10-09 17:42:25.724] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.725] [path_visualizer] [debug] current_cmd_angular_z:-0.0071788795306866465 +[2026-10-09 17:42:25.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.769] [path_visualizer] [debug] current_pose_x:1.7640004747234599, current_pose_y:0.013572585339792973,current_pose_yaw:-0.011889868415892124 +[2026-10-09 17:42:25.769] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.769] [path_visualizer] [debug] current_cmd_angular_z:-0.0071788795306866465 +[2026-10-09 17:42:25.824] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.824] [path_visualizer] [debug] current_pose_x:1.7640004747234599, current_pose_y:0.013572585339792973,current_pose_yaw:-0.011889868415892124 +[2026-10-09 17:42:25.824] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.824] [path_visualizer] [debug] current_cmd_angular_z:-0.0071788795306866465 +[2026-10-09 17:42:25.876] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.876] [path_visualizer] [debug] current_pose_x:1.814536371723309, current_pose_y:0.01368608549927804,current_pose_yaw:-0.012126820161938667 +[2026-10-09 17:42:25.876] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.876] [path_visualizer] [debug] current_cmd_angular_z:-0.0070105905568392975 +[2026-10-09 17:42:25.924] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.924] [path_visualizer] [debug] current_pose_x:1.814536371723309, current_pose_y:0.01368608549927804,current_pose_yaw:-0.012126820161938667 +[2026-10-09 17:42:25.924] [path_visualizer] [debug] current_path_x:1.7434662683747293, current_path_y:4.864028603761418e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.924] [path_visualizer] [debug] current_cmd_angular_z:-0.0070105905568392975 +[2026-10-09 17:42:25.976] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:25.976] [path_visualizer] [debug] current_pose_x:1.86506868763165, current_pose_y:0.013788386978026519,current_pose_yaw:-0.012359000742435457 +[2026-10-09 17:42:25.976] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:25.976] [path_visualizer] [debug] current_cmd_angular_z:-0.006827903880027995 +[2026-10-09 17:42:26.019] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.019] [path_visualizer] [debug] current_pose_x:1.86506868763165, current_pose_y:0.013788386978026519,current_pose_yaw:-0.012359000742435457 +[2026-10-09 17:42:26.019] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.019] [path_visualizer] [debug] current_cmd_angular_z:-0.006827903880027995 +[2026-10-09 17:42:26.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.074] [path_visualizer] [debug] current_pose_x:1.86506868763165, current_pose_y:0.013788386978026519,current_pose_yaw:-0.012359000742435457 +[2026-10-09 17:42:26.074] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.074] [path_visualizer] [debug] current_cmd_angular_z:-0.006827903880027995 +[2026-10-09 17:42:26.120] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.120] [path_visualizer] [debug] current_pose_x:1.9156044136660895, current_pose_y:0.013887754881566438,current_pose_yaw:-0.012586666271090508 +[2026-10-09 17:42:26.120] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.120] [path_visualizer] [debug] current_cmd_angular_z:-0.006647002132998035 +[2026-10-09 17:42:26.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.169] [path_visualizer] [debug] current_pose_x:1.9156044136660895, current_pose_y:0.013887754881566438,current_pose_yaw:-0.012586666271090508 +[2026-10-09 17:42:26.169] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.169] [path_visualizer] [debug] current_cmd_angular_z:-0.006647002132998035 +[2026-10-09 17:42:26.221] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.221] [path_visualizer] [debug] current_pose_x:1.9661548607880124, current_pose_y:0.01398201747892612,current_pose_yaw:-0.012818850576877596 +[2026-10-09 17:42:26.221] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.221] [path_visualizer] [debug] current_cmd_angular_z:-0.006448471703825589 +[2026-10-09 17:42:26.273] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.273] [path_visualizer] [debug] current_pose_x:1.9661548607880124, current_pose_y:0.01398201747892612,current_pose_yaw:-0.012818850576877596 +[2026-10-09 17:42:26.273] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.273] [path_visualizer] [debug] current_cmd_angular_z:-0.006448471703825589 +[2026-10-09 17:42:26.319] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.319] [path_visualizer] [debug] current_pose_x:1.9661548607880124, current_pose_y:0.01398201747892612,current_pose_yaw:-0.012818850576877596 +[2026-10-09 17:42:26.319] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.319] [path_visualizer] [debug] current_cmd_angular_z:-0.006448471703825589 +[2026-10-09 17:42:26.369] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.369] [path_visualizer] [debug] current_pose_x:2.016713600908792, current_pose_y:0.014067609703239363,current_pose_yaw:-0.013048524037003515 +[2026-10-09 17:42:26.369] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.369] [path_visualizer] [debug] current_cmd_angular_z:-0.006236912738767798 +[2026-10-09 17:42:26.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.425] [path_visualizer] [debug] current_pose_x:2.016713600908792, current_pose_y:0.014067609703239363,current_pose_yaw:-0.013048524037003515 +[2026-10-09 17:42:26.425] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.425] [path_visualizer] [debug] current_cmd_angular_z:-0.006236912738767798 +[2026-10-09 17:42:26.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.473] [path_visualizer] [debug] current_pose_x:2.016713600908792, current_pose_y:0.014067609703239363,current_pose_yaw:-0.013048524037003515 +[2026-10-09 17:42:26.473] [path_visualizer] [debug] current_path_x:1.937184742638588, current_path_y:5.404476226401575e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.473] [path_visualizer] [debug] current_cmd_angular_z:-0.006236912738767798 +[2026-10-09 17:42:26.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.519] [path_visualizer] [debug] current_pose_x:2.0672719208975168, current_pose_y:0.014148454300661462,current_pose_yaw:-0.013272243551909924 +[2026-10-09 17:42:26.519] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.519] [path_visualizer] [debug] current_cmd_angular_z:-0.006025715219821162 +[2026-10-09 17:42:26.575] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.575] [path_visualizer] [debug] current_pose_x:2.0672719208975168, current_pose_y:0.014148454300661462,current_pose_yaw:-0.013272243551909924 +[2026-10-09 17:42:26.575] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.575] [path_visualizer] [debug] current_cmd_angular_z:-0.006025715219821162 +[2026-10-09 17:42:26.628] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.628] [path_visualizer] [debug] current_pose_x:2.117832542410854, current_pose_y:0.014224793000900892,current_pose_yaw:-0.013490015640854836 +[2026-10-09 17:42:26.628] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.628] [path_visualizer] [debug] current_cmd_angular_z:-0.005815562173891644 +[2026-10-09 17:42:26.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.674] [path_visualizer] [debug] current_pose_x:2.117832542410854, current_pose_y:0.014224793000900892,current_pose_yaw:-0.013490015640854836 +[2026-10-09 17:42:26.674] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.674] [path_visualizer] [debug] current_cmd_angular_z:-0.005815562173891644 +[2026-10-09 17:42:26.718] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.718] [path_visualizer] [debug] current_pose_x:2.117832542410854, current_pose_y:0.014224793000900892,current_pose_yaw:-0.013490015640854836 +[2026-10-09 17:42:26.718] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.718] [path_visualizer] [debug] current_cmd_angular_z:-0.005815562173891644 +[2026-10-09 17:42:26.773] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.773] [path_visualizer] [debug] current_pose_x:2.168393590094594, current_pose_y:0.014296874472392454,current_pose_yaw:-0.013701830990612507 +[2026-10-09 17:42:26.773] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.773] [path_visualizer] [debug] current_cmd_angular_z:-0.005606855091119859 +[2026-10-09 17:42:26.822] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.822] [path_visualizer] [debug] current_pose_x:2.168393590094594, current_pose_y:0.014296874472392454,current_pose_yaw:-0.013701830990612507 +[2026-10-09 17:42:26.822] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.822] [path_visualizer] [debug] current_cmd_angular_z:-0.005606855091119859 +[2026-10-09 17:42:26.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.871] [path_visualizer] [debug] current_pose_x:2.2189529924083113, current_pose_y:0.014367240200823264,current_pose_yaw:-0.01390576548874378 +[2026-10-09 17:42:26.871] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.871] [path_visualizer] [debug] current_cmd_angular_z:-0.005407829502880202 +[2026-10-09 17:42:26.919] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.919] [path_visualizer] [debug] current_pose_x:2.2189529924083113, current_pose_y:0.014367240200823264,current_pose_yaw:-0.01390576548874378 +[2026-10-09 17:42:26.919] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.919] [path_visualizer] [debug] current_cmd_angular_z:-0.005407829502880202 +[2026-10-09 17:42:26.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:26.974] [path_visualizer] [debug] current_pose_x:2.2189529924083113, current_pose_y:0.014367240200823264,current_pose_yaw:-0.01390576548874378 +[2026-10-09 17:42:26.974] [path_visualizer] [debug] current_path_x:2.1309032169024467, current_path_y:5.944923849041734e-07,current_path_yaw:0.0 +[2026-10-09 17:42:26.974] [path_visualizer] [debug] current_cmd_angular_z:-0.005407829502880202 +[2026-10-09 17:42:27.026] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.026] [path_visualizer] [debug] current_pose_x:2.2695128680431584, current_pose_y:0.0144383924211937,current_pose_yaw:-0.014099905267357826 +[2026-10-09 17:42:27.026] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.026] [path_visualizer] [debug] current_cmd_angular_z:-0.005226518884140871 +[2026-10-09 17:42:27.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.073] [path_visualizer] [debug] current_pose_x:2.2695128680431584, current_pose_y:0.0144383924211937,current_pose_yaw:-0.014099905267357826 +[2026-10-09 17:42:27.073] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.073] [path_visualizer] [debug] current_cmd_angular_z:-0.005226518884140871 +[2026-10-09 17:42:27.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.119] [path_visualizer] [debug] current_pose_x:2.2695128680431584, current_pose_y:0.0144383924211937,current_pose_yaw:-0.014099905267357826 +[2026-10-09 17:42:27.119] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.119] [path_visualizer] [debug] current_cmd_angular_z:-0.005226518884140871 +[2026-10-09 17:42:27.176] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.176] [path_visualizer] [debug] current_pose_x:2.3200732602214895, current_pose_y:0.014506609833402165,current_pose_yaw:-0.014288051053881643 +[2026-10-09 17:42:27.176] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.176] [path_visualizer] [debug] current_cmd_angular_z:-0.005049446237247096 +[2026-10-09 17:42:27.221] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.221] [path_visualizer] [debug] current_pose_x:2.3200732602214895, current_pose_y:0.014506609833402165,current_pose_yaw:-0.014288051053881643 +[2026-10-09 17:42:27.221] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.221] [path_visualizer] [debug] current_cmd_angular_z:-0.005049446237247096 +[2026-10-09 17:42:27.268] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.268] [path_visualizer] [debug] current_pose_x:2.370636271026874, current_pose_y:0.01457215354757092,current_pose_yaw:-0.014470202848315239 +[2026-10-09 17:42:27.268] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.268] [path_visualizer] [debug] current_cmd_angular_z:-0.004877022267103456 +[2026-10-09 17:42:27.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.325] [path_visualizer] [debug] current_pose_x:2.370636271026874, current_pose_y:0.01457215354757092,current_pose_yaw:-0.014470202848315239 +[2026-10-09 17:42:27.325] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.325] [path_visualizer] [debug] current_cmd_angular_z:-0.004877022267103456 +[2026-10-09 17:42:27.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.374] [path_visualizer] [debug] current_pose_x:2.370636271026874, current_pose_y:0.01457215354757092,current_pose_yaw:-0.014470202848315239 +[2026-10-09 17:42:27.374] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.374] [path_visualizer] [debug] current_cmd_angular_z:-0.004877022267103456 +[2026-10-09 17:42:27.420] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.420] [path_visualizer] [debug] current_pose_x:2.421198186537234, current_pose_y:0.014633662986406702,current_pose_yaw:-0.014647782780230044 +[2026-10-09 17:42:27.420] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.420] [path_visualizer] [debug] current_cmd_angular_z:-0.004704187164655659 +[2026-10-09 17:42:27.471] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.471] [path_visualizer] [debug] current_pose_x:2.421198186537234, current_pose_y:0.014633662986406702,current_pose_yaw:-0.014647782780230044 +[2026-10-09 17:42:27.471] [path_visualizer] [debug] current_path_x:2.3246216911663056, current_path_y:6.48537147168189e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.471] [path_visualizer] [debug] current_cmd_angular_z:-0.004704187164655659 +[2026-10-09 17:42:27.518] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.518] [path_visualizer] [debug] current_pose_x:2.471762112649752, current_pose_y:0.01469470106530972,current_pose_yaw:-0.014817915856838228 +[2026-10-09 17:42:27.518] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.518] [path_visualizer] [debug] current_cmd_angular_z:-0.0045426739747958245 +[2026-10-09 17:42:27.569] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.569] [path_visualizer] [debug] current_pose_x:2.471762112649752, current_pose_y:0.01469470106530972,current_pose_yaw:-0.014817915856838228 +[2026-10-09 17:42:27.569] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.569] [path_visualizer] [debug] current_cmd_angular_z:-0.0045426739747958245 +[2026-10-09 17:42:27.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.625] [path_visualizer] [debug] current_pose_x:2.471762112649752, current_pose_y:0.01469470106530972,current_pose_yaw:-0.014817915856838228 +[2026-10-09 17:42:27.625] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.625] [path_visualizer] [debug] current_cmd_angular_z:-0.0045426739747958245 +[2026-10-09 17:42:27.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.674] [path_visualizer] [debug] current_pose_x:2.5223248699123486, current_pose_y:0.014755578698375316,current_pose_yaw:-0.014980592764914038 +[2026-10-09 17:42:27.674] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.674] [path_visualizer] [debug] current_cmd_angular_z:-0.0043933292352807685 +[2026-10-09 17:42:27.720] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.720] [path_visualizer] [debug] current_pose_x:2.5223248699123486, current_pose_y:0.014755578698375316,current_pose_yaw:-0.014980592764914038 +[2026-10-09 17:42:27.720] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.721] [path_visualizer] [debug] current_cmd_angular_z:-0.0043933292352807685 +[2026-10-09 17:42:27.773] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.773] [path_visualizer] [debug] current_pose_x:2.5223248699123486, current_pose_y:0.014755578698375316,current_pose_yaw:-0.014980592764914038 +[2026-10-09 17:42:27.773] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.773] [path_visualizer] [debug] current_cmd_angular_z:-0.0043933292352807685 +[2026-10-09 17:42:27.822] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.822] [path_visualizer] [debug] current_pose_x:2.5728896446976575, current_pose_y:0.014813521799730374,current_pose_yaw:-0.015138665214180946 +[2026-10-09 17:42:27.822] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.822] [path_visualizer] [debug] current_cmd_angular_z:-0.004245808775566604 +[2026-10-09 17:42:27.868] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.868] [path_visualizer] [debug] current_pose_x:2.5728896446976575, current_pose_y:0.014813521799730374,current_pose_yaw:-0.015138665214180946 +[2026-10-09 17:42:27.868] [path_visualizer] [debug] current_path_x:2.5183401654301645, current_path_y:7.025819094322048e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.868] [path_visualizer] [debug] current_cmd_angular_z:-0.004245808775566604 +[2026-10-09 17:42:27.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.925] [path_visualizer] [debug] current_pose_x:2.62345267191186, current_pose_y:0.014870329356648783,current_pose_yaw:-0.015290701761841776 +[2026-10-09 17:42:27.925] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.925] [path_visualizer] [debug] current_cmd_angular_z:-0.004105950238740223 +[2026-10-09 17:42:27.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:27.973] [path_visualizer] [debug] current_pose_x:2.62345267191186, current_pose_y:0.014870329356648783,current_pose_yaw:-0.015290701761841776 +[2026-10-09 17:42:27.973] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:27.973] [path_visualizer] [debug] current_cmd_angular_z:-0.004105950238740223 +[2026-10-09 17:42:28.018] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.018] [path_visualizer] [debug] current_pose_x:2.62345267191186, current_pose_y:0.014870329356648783,current_pose_yaw:-0.015290701761841776 +[2026-10-09 17:42:28.018] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.018] [path_visualizer] [debug] current_cmd_angular_z:-0.004105950238740223 +[2026-10-09 17:42:28.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.073] [path_visualizer] [debug] current_pose_x:2.674016052533671, current_pose_y:0.01492306349825155,current_pose_yaw:-0.01543955598026514 +[2026-10-09 17:42:28.073] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.073] [path_visualizer] [debug] current_cmd_angular_z:-0.003963403087576464 +[2026-10-09 17:42:28.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.125] [path_visualizer] [debug] current_pose_x:2.674016052533671, current_pose_y:0.01492306349825155,current_pose_yaw:-0.01543955598026514 +[2026-10-09 17:42:28.125] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.125] [path_visualizer] [debug] current_cmd_angular_z:-0.003963403087576464 +[2026-10-09 17:42:28.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.172] [path_visualizer] [debug] current_pose_x:2.724579762562445, current_pose_y:0.014974090872358655,current_pose_yaw:-0.015583313070237637 +[2026-10-09 17:42:28.172] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.172] [path_visualizer] [debug] current_cmd_angular_z:-0.0038259334121964195 +[2026-10-09 17:42:28.224] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.224] [path_visualizer] [debug] current_pose_x:2.724579762562445, current_pose_y:0.014974090872358655,current_pose_yaw:-0.015583313070237637 +[2026-10-09 17:42:28.224] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.224] [path_visualizer] [debug] current_cmd_angular_z:-0.0038259334121964195 +[2026-10-09 17:42:28.271] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.271] [path_visualizer] [debug] current_pose_x:2.724579762562445, current_pose_y:0.014974090872358655,current_pose_yaw:-0.015583313070237637 +[2026-10-09 17:42:28.271] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.271] [path_visualizer] [debug] current_cmd_angular_z:-0.0038259334121964195 +[2026-10-09 17:42:28.324] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.324] [path_visualizer] [debug] current_pose_x:2.7751437723087213, current_pose_y:0.01502795789936485,current_pose_yaw:-0.015718149021267894 +[2026-10-09 17:42:28.324] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.324] [path_visualizer] [debug] current_cmd_angular_z:-0.0037089078472189937 +[2026-10-09 17:42:28.371] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.371] [path_visualizer] [debug] current_pose_x:2.7751437723087213, current_pose_y:0.01502795789936485,current_pose_yaw:-0.015718149021267894 +[2026-10-09 17:42:28.371] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.371] [path_visualizer] [debug] current_cmd_angular_z:-0.0037089078472189937 +[2026-10-09 17:42:28.422] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.422] [path_visualizer] [debug] current_pose_x:2.7751437723087213, current_pose_y:0.01502795789936485,current_pose_yaw:-0.015718149021267894 +[2026-10-09 17:42:28.422] [path_visualizer] [debug] current_path_x:2.712058639694023, current_path_y:7.566266716962205e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.422] [path_visualizer] [debug] current_cmd_angular_z:-0.0037089078472189937 +[2026-10-09 17:42:28.470] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.471] [path_visualizer] [debug] current_pose_x:2.8257080719826657, current_pose_y:0.015078690452021657,current_pose_yaw:-0.015849782153964043 +[2026-10-09 17:42:28.471] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.471] [path_visualizer] [debug] current_cmd_angular_z:-0.0035908756427652823 +[2026-10-09 17:42:28.529] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.529] [path_visualizer] [debug] current_pose_x:2.8257080719826657, current_pose_y:0.015078690452021657,current_pose_yaw:-0.015849782153964043 +[2026-10-09 17:42:28.529] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.529] [path_visualizer] [debug] current_cmd_angular_z:-0.0035908756427652823 +[2026-10-09 17:42:28.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.573] [path_visualizer] [debug] current_pose_x:2.876272635061696, current_pose_y:0.015127499624318417,current_pose_yaw:-0.01597725600004196 +[2026-10-09 17:42:28.573] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.573] [path_visualizer] [debug] current_cmd_angular_z:-0.003476041366770287 +[2026-10-09 17:42:28.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.625] [path_visualizer] [debug] current_pose_x:2.876272635061696, current_pose_y:0.015127499624318417,current_pose_yaw:-0.01597725600004196 +[2026-10-09 17:42:28.625] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.625] [path_visualizer] [debug] current_cmd_angular_z:-0.003476041366770287 +[2026-10-09 17:42:28.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.673] [path_visualizer] [debug] current_pose_x:2.876272635061696, current_pose_y:0.015127499624318417,current_pose_yaw:-0.01597725600004196 +[2026-10-09 17:42:28.673] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.673] [path_visualizer] [debug] current_cmd_angular_z:-0.003476041366770287 +[2026-10-09 17:42:28.720] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.720] [path_visualizer] [debug] current_pose_x:2.9268392941810903, current_pose_y:0.015170345802709435,current_pose_yaw:-0.016101144254207608 +[2026-10-09 17:42:28.720] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.720] [path_visualizer] [debug] current_cmd_angular_z:-0.003355332924079607 +[2026-10-09 17:42:28.768] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.768] [path_visualizer] [debug] current_pose_x:2.9268392941810903, current_pose_y:0.015170345802709435,current_pose_yaw:-0.016101144254207608 +[2026-10-09 17:42:28.768] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.768] [path_visualizer] [debug] current_cmd_angular_z:-0.003355332924079607 +[2026-10-09 17:42:28.823] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.823] [path_visualizer] [debug] current_pose_x:2.9774158986540264, current_pose_y:0.015195434991992815,current_pose_yaw:-0.016218142583966255 +[2026-10-09 17:42:28.823] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.823] [path_visualizer] [debug] current_cmd_angular_z:-0.0032108436414449368 +[2026-10-09 17:42:28.875] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.875] [path_visualizer] [debug] current_pose_x:2.9774158986540264, current_pose_y:0.015195434991992815,current_pose_yaw:-0.016218142583966255 +[2026-10-09 17:42:28.875] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.875] [path_visualizer] [debug] current_cmd_angular_z:-0.0032108436414449368 +[2026-10-09 17:42:28.928] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.928] [path_visualizer] [debug] current_pose_x:2.9774158986540264, current_pose_y:0.015195434991992815,current_pose_yaw:-0.016218142583966255 +[2026-10-09 17:42:28.928] [path_visualizer] [debug] current_path_x:2.905777113957882, current_path_y:8.106714339602363e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.928] [path_visualizer] [debug] current_cmd_angular_z:-0.0032108436414449368 +[2026-10-09 17:42:28.972] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:28.972] [path_visualizer] [debug] current_pose_x:3.027996025759009, current_pose_y:0.015213564034823674,current_pose_yaw:-0.01632958091795445 +[2026-10-09 17:42:28.972] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:28.972] [path_visualizer] [debug] current_cmd_angular_z:-0.003061673295979419 +[2026-10-09 17:42:29.021] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.021] [path_visualizer] [debug] current_pose_x:3.027996025759009, current_pose_y:0.015213564034823674,current_pose_yaw:-0.01632958091795445 +[2026-10-09 17:42:29.021] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.021] [path_visualizer] [debug] current_cmd_angular_z:-0.003061673295979419 +[2026-10-09 17:42:29.076] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.076] [path_visualizer] [debug] current_pose_x:3.027996025759009, current_pose_y:0.015213564034823674,current_pose_yaw:-0.01632958091795445 +[2026-10-09 17:42:29.076] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.076] [path_visualizer] [debug] current_cmd_angular_z:-0.003061673295979419 +[2026-10-09 17:42:29.124] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.124] [path_visualizer] [debug] current_pose_x:3.078575628687466, current_pose_y:0.015230197769862468,current_pose_yaw:-0.016438141465187076 +[2026-10-09 17:42:29.124] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.124] [path_visualizer] [debug] current_cmd_angular_z:-0.002914422264926518 +[2026-10-09 17:42:29.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.169] [path_visualizer] [debug] current_pose_x:3.078575628687466, current_pose_y:0.015230197769862468,current_pose_yaw:-0.016438141465187076 +[2026-10-09 17:42:29.169] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.169] [path_visualizer] [debug] current_cmd_angular_z:-0.002914422264926518 +[2026-10-09 17:42:29.224] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.225] [path_visualizer] [debug] current_pose_x:3.129162783509669, current_pose_y:0.015250730206881133,current_pose_yaw:-0.016542060300707817 +[2026-10-09 17:42:29.225] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.225] [path_visualizer] [debug] current_cmd_angular_z:-0.0027826107789487194 +[2026-10-09 17:42:29.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.269] [path_visualizer] [debug] current_pose_x:3.129162783509669, current_pose_y:0.015250730206881133,current_pose_yaw:-0.016542060300707817 +[2026-10-09 17:42:29.269] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.269] [path_visualizer] [debug] current_cmd_angular_z:-0.0027826107789487194 +[2026-10-09 17:42:29.323] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.323] [path_visualizer] [debug] current_pose_x:3.129162783509669, current_pose_y:0.015250730206881133,current_pose_yaw:-0.016542060300707817 +[2026-10-09 17:42:29.323] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.323] [path_visualizer] [debug] current_cmd_angular_z:-0.0027826107789487194 +[2026-10-09 17:42:29.369] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.369] [path_visualizer] [debug] current_pose_x:3.1797878229793817, current_pose_y:0.015268594919967647,current_pose_yaw:-0.01664093323051929 +[2026-10-09 17:42:29.369] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.369] [path_visualizer] [debug] current_cmd_angular_z:-0.0026538857093055916 +[2026-10-09 17:42:29.418] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.418] [path_visualizer] [debug] current_pose_x:3.1797878229793817, current_pose_y:0.015268594919967647,current_pose_yaw:-0.01664093323051929 +[2026-10-09 17:42:29.418] [path_visualizer] [debug] current_path_x:3.0994955882217408, current_path_y:8.64716196224252e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.418] [path_visualizer] [debug] current_cmd_angular_z:-0.0026538857093055916 +[2026-10-09 17:42:29.471] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.471] [path_visualizer] [debug] current_pose_x:3.2304104664451634, current_pose_y:0.015287182032790603,current_pose_yaw:-0.016734540462493896 +[2026-10-09 17:42:29.471] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.471] [path_visualizer] [debug] current_cmd_angular_z:-0.0025352289410158664 +[2026-10-09 17:42:29.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.519] [path_visualizer] [debug] current_pose_x:3.2304104664451634, current_pose_y:0.015287182032790603,current_pose_yaw:-0.016734540462493896 +[2026-10-09 17:42:29.519] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.519] [path_visualizer] [debug] current_cmd_angular_z:-0.0025352289410158664 +[2026-10-09 17:42:29.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.574] [path_visualizer] [debug] current_pose_x:3.2304104664451634, current_pose_y:0.015287182032790603,current_pose_yaw:-0.016734540462493896 +[2026-10-09 17:42:29.574] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.574] [path_visualizer] [debug] current_cmd_angular_z:-0.0025352289410158664 +[2026-10-09 17:42:29.620] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.620] [path_visualizer] [debug] current_pose_x:3.281031501282253, current_pose_y:0.015305340929934057,current_pose_yaw:-0.01682431995868683 +[2026-10-09 17:42:29.620] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.620] [path_visualizer] [debug] current_cmd_angular_z:-0.002422185219087155 +[2026-10-09 17:42:29.668] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.668] [path_visualizer] [debug] current_pose_x:3.281031501282253, current_pose_y:0.015305340929934057,current_pose_yaw:-0.01682431995868683 +[2026-10-09 17:42:29.668] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.668] [path_visualizer] [debug] current_cmd_angular_z:-0.002422185219087155 +[2026-10-09 17:42:29.720] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.720] [path_visualizer] [debug] current_pose_x:3.281031501282253, current_pose_y:0.015305340929934057,current_pose_yaw:-0.01682431995868683 +[2026-10-09 17:42:29.720] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.720] [path_visualizer] [debug] current_cmd_angular_z:-0.002422185219087155 +[2026-10-09 17:42:29.768] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.769] [path_visualizer] [debug] current_pose_x:3.331651155997566, current_pose_y:0.015323298073438695,current_pose_yaw:-0.01691027358174324 +[2026-10-09 17:42:29.769] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.769] [path_visualizer] [debug] current_cmd_angular_z:-0.0023150934329462386 +[2026-10-09 17:42:29.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.825] [path_visualizer] [debug] current_pose_x:3.331651155997566, current_pose_y:0.015323298073438695,current_pose_yaw:-0.01691027358174324 +[2026-10-09 17:42:29.825] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.825] [path_visualizer] [debug] current_cmd_angular_z:-0.0023150934329462386 +[2026-10-09 17:42:29.872] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.872] [path_visualizer] [debug] current_pose_x:3.382269536381026, current_pose_y:0.015341253531501379,current_pose_yaw:-0.01699240319430828 +[2026-10-09 17:42:29.872] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.872] [path_visualizer] [debug] current_cmd_angular_z:-0.0022143473163831473 +[2026-10-09 17:42:29.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.925] [path_visualizer] [debug] current_pose_x:3.382269536381026, current_pose_y:0.015341253531501379,current_pose_yaw:-0.01699240319430828 +[2026-10-09 17:42:29.925] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.925] [path_visualizer] [debug] current_cmd_angular_z:-0.0022143473163831473 +[2026-10-09 17:42:29.975] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:29.975] [path_visualizer] [debug] current_pose_x:3.382269536381026, current_pose_y:0.015341253531501379,current_pose_yaw:-0.01699240319430828 +[2026-10-09 17:42:29.975] [path_visualizer] [debug] current_path_x:3.2932140624855992, current_path_y:9.187609584882677e-07,current_path_yaw:0.0 +[2026-10-09 17:42:29.975] [path_visualizer] [debug] current_cmd_angular_z:-0.0022143473163831473 +[2026-10-09 17:42:30.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.025] [path_visualizer] [debug] current_pose_x:3.4328866826400426, current_pose_y:0.015358308917740503,current_pose_yaw:-0.017071660608053207 +[2026-10-09 17:42:30.025] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-09 17:42:30.025] [path_visualizer] [debug] current_cmd_angular_z:-0.002116477469812382 +[2026-10-09 17:42:30.072] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.072] [path_visualizer] [debug] current_pose_x:3.4328866826400426, current_pose_y:0.015358308917740503,current_pose_yaw:-0.017071660608053207 +[2026-10-09 17:42:30.072] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-09 17:42:30.072] [path_visualizer] [debug] current_cmd_angular_z:-0.002116477469812382 +[2026-10-09 17:42:30.122] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.122] [path_visualizer] [debug] current_pose_x:3.4835026034546095, current_pose_y:0.015376812683807193,current_pose_yaw:-0.017146142199635506 +[2026-10-09 17:42:30.122] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-09 17:42:30.122] [path_visualizer] [debug] current_cmd_angular_z:-0.0020295169228693385 +[2026-10-09 17:42:30.177] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.177] [path_visualizer] [debug] current_pose_x:3.4835026034546095, current_pose_y:0.015376812683807193,current_pose_yaw:-0.017146142199635506 +[2026-10-09 17:42:30.177] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-09 17:42:30.177] [path_visualizer] [debug] current_cmd_angular_z:-0.0020295169228693385 +[2026-10-09 17:42:30.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.223] [path_visualizer] [debug] current_pose_x:3.4835026034546095, current_pose_y:0.015376812683807193,current_pose_yaw:-0.017146142199635506 +[2026-10-09 17:42:30.223] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-09 17:42:30.223] [path_visualizer] [debug] current_cmd_angular_z:-0.0020295169228693385 +[2026-10-09 17:42:30.271] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.271] [path_visualizer] [debug] current_pose_x:3.5341173121915923, current_pose_y:0.015395868127168644,current_pose_yaw:-0.017216799780726433 +[2026-10-09 17:42:30.271] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-09 17:42:30.271] [path_visualizer] [debug] current_cmd_angular_z:-0.0019499996158074892 +[2026-10-09 17:42:30.324] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.324] [path_visualizer] [debug] current_pose_x:3.5341173121915923, current_pose_y:0.015395868127168644,current_pose_yaw:-0.017216799780726433 +[2026-10-09 17:42:30.324] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-09 17:42:30.324] [path_visualizer] [debug] current_cmd_angular_z:-0.0019499996158074892 +[2026-10-09 17:42:30.375] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.375] [path_visualizer] [debug] current_pose_x:3.5341173121915923, current_pose_y:0.015395868127168644,current_pose_yaw:-0.017216799780726433 +[2026-10-09 17:42:30.375] [path_visualizer] [debug] current_path_x:3.4869325367494586, current_path_y:9.728057207522837e-07,current_path_yaw:0.0 +[2026-10-09 17:42:30.375] [path_visualizer] [debug] current_cmd_angular_z:-0.0019499996158074892 +[2026-10-09 17:42:30.423] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.424] [path_visualizer] [debug] current_pose_x:3.584730809637665, current_pose_y:0.015415752522586021,current_pose_yaw:-0.01728363148868084 +[2026-10-09 17:42:30.424] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.424] [path_visualizer] [debug] current_cmd_angular_z:-0.001878371407925232 +[2026-10-09 17:42:30.471] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.471] [path_visualizer] [debug] current_pose_x:3.584730809637665, current_pose_y:0.015415752522586021,current_pose_yaw:-0.01728363148868084 +[2026-10-09 17:42:30.471] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.471] [path_visualizer] [debug] current_cmd_angular_z:-0.001878371407925232 +[2026-10-09 17:42:30.518] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.518] [path_visualizer] [debug] current_pose_x:3.6353431032688515, current_pose_y:0.015432278099801836,current_pose_yaw:-0.017350459471344944 +[2026-10-09 17:42:30.518] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.518] [path_visualizer] [debug] current_cmd_angular_z:-0.0018001945144556913 +[2026-10-09 17:42:30.576] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.576] [path_visualizer] [debug] current_pose_x:3.6353431032688515, current_pose_y:0.015432278099801836,current_pose_yaw:-0.017350459471344944 +[2026-10-09 17:42:30.576] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.576] [path_visualizer] [debug] current_cmd_angular_z:-0.0018001945144556913 +[2026-10-09 17:42:30.619] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.619] [path_visualizer] [debug] current_pose_x:3.6353431032688515, current_pose_y:0.015432278099801836,current_pose_yaw:-0.017350459471344944 +[2026-10-09 17:42:30.619] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.620] [path_visualizer] [debug] current_cmd_angular_z:-0.0018001945144556913 +[2026-10-09 17:42:30.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.673] [path_visualizer] [debug] current_pose_x:3.6859541929710606, current_pose_y:0.015448668973988553,current_pose_yaw:-0.01741442270576954 +[2026-10-09 17:42:30.673] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.673] [path_visualizer] [debug] current_cmd_angular_z:-0.0017265067910006149 +[2026-10-09 17:42:30.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.723] [path_visualizer] [debug] current_pose_x:3.6859541929710606, current_pose_y:0.015448668973988553,current_pose_yaw:-0.01741442270576954 +[2026-10-09 17:42:30.723] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.723] [path_visualizer] [debug] current_cmd_angular_z:-0.0017265067910006149 +[2026-10-09 17:42:30.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.769] [path_visualizer] [debug] current_pose_x:3.736564068246827, current_pose_y:0.015467284283280255,current_pose_yaw:-0.017473608255386353 +[2026-10-09 17:42:30.769] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.769] [path_visualizer] [debug] current_cmd_angular_z:-0.0016651635353755953 +[2026-10-09 17:42:30.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.825] [path_visualizer] [debug] current_pose_x:3.736564068246827, current_pose_y:0.015467284283280255,current_pose_yaw:-0.017473608255386353 +[2026-10-09 17:42:30.825] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.825] [path_visualizer] [debug] current_cmd_angular_z:-0.0016651635353755953 +[2026-10-09 17:42:30.873] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.873] [path_visualizer] [debug] current_pose_x:3.736564068246827, current_pose_y:0.015467284283280255,current_pose_yaw:-0.017473608255386353 +[2026-10-09 17:42:30.873] [path_visualizer] [debug] current_path_x:3.680651011013317, current_path_y:1.0268504830162994e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.873] [path_visualizer] [debug] current_cmd_angular_z:-0.0016651635353755953 +[2026-10-09 17:42:30.918] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.918] [path_visualizer] [debug] current_pose_x:3.787172742140717, current_pose_y:0.015482929585691259,current_pose_yaw:-0.017532790079712868 +[2026-10-09 17:42:30.918] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.918] [path_visualizer] [debug] current_cmd_angular_z:-0.0015978283933236331 +[2026-10-09 17:42:30.971] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:30.971] [path_visualizer] [debug] current_pose_x:3.787172742140717, current_pose_y:0.015482929585691259,current_pose_yaw:-0.017532790079712868 +[2026-10-09 17:42:30.971] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:30.971] [path_visualizer] [debug] current_cmd_angular_z:-0.0015978283933236331 +[2026-10-09 17:42:31.020] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.020] [path_visualizer] [debug] current_pose_x:3.787172742140717, current_pose_y:0.015482929585691259,current_pose_yaw:-0.017532790079712868 +[2026-10-09 17:42:31.020] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.020] [path_visualizer] [debug] current_cmd_angular_z:-0.0015978283933236331 +[2026-10-09 17:42:31.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.073] [path_visualizer] [debug] current_pose_x:3.8377802112796937, current_pose_y:0.015499935175075285,current_pose_yaw:-0.01758814975619316 +[2026-10-09 17:42:31.073] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.073] [path_visualizer] [debug] current_cmd_angular_z:-0.0015396444351999591 +[2026-10-09 17:42:31.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.119] [path_visualizer] [debug] current_pose_x:3.8377802112796937, current_pose_y:0.015499935175075285,current_pose_yaw:-0.01758814975619316 +[2026-10-09 17:42:31.119] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.119] [path_visualizer] [debug] current_cmd_angular_z:-0.0015396444351999591 +[2026-10-09 17:42:31.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.169] [path_visualizer] [debug] current_pose_x:3.888388596978796, current_pose_y:0.015516332558682497,current_pose_yaw:-0.01764159835875034 +[2026-10-09 17:42:31.169] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.169] [path_visualizer] [debug] current_cmd_angular_z:-0.001483427088060943 +[2026-10-09 17:42:31.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.225] [path_visualizer] [debug] current_pose_x:3.888388596978796, current_pose_y:0.015516332558682497,current_pose_yaw:-0.01764159835875034 +[2026-10-09 17:42:31.225] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.225] [path_visualizer] [debug] current_cmd_angular_z:-0.001483427088060943 +[2026-10-09 17:42:31.275] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.275] [path_visualizer] [debug] current_pose_x:3.888388596978796, current_pose_y:0.015516332558682497,current_pose_yaw:-0.01764159835875034 +[2026-10-09 17:42:31.275] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.275] [path_visualizer] [debug] current_cmd_angular_z:-0.001483427088060943 +[2026-10-09 17:42:31.320] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.320] [path_visualizer] [debug] current_pose_x:3.938994204210247, current_pose_y:0.015531660546142589,current_pose_yaw:-0.01769361086189747 +[2026-10-09 17:42:31.320] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.320] [path_visualizer] [debug] current_cmd_angular_z:-0.0014274730002077976 +[2026-10-09 17:42:31.373] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.373] [path_visualizer] [debug] current_pose_x:3.938994204210247, current_pose_y:0.015531660546142589,current_pose_yaw:-0.01769361086189747 +[2026-10-09 17:42:31.373] [path_visualizer] [debug] current_path_x:3.874369485277176, current_path_y:1.080895245280315e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.373] [path_visualizer] [debug] current_cmd_angular_z:-0.0014274730002077976 +[2026-10-09 17:42:31.421] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.421] [path_visualizer] [debug] current_pose_x:3.989600179173209, current_pose_y:0.015547100227364245,current_pose_yaw:-0.01774323359131813 +[2026-10-09 17:42:31.421] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.421] [path_visualizer] [debug] current_cmd_angular_z:-0.001375601002864383 +[2026-10-09 17:42:31.475] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.475] [path_visualizer] [debug] current_pose_x:3.989600179173209, current_pose_y:0.015547100227364245,current_pose_yaw:-0.01774323359131813 +[2026-10-09 17:42:31.475] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.476] [path_visualizer] [debug] current_cmd_angular_z:-0.001375601002864383 +[2026-10-09 17:42:31.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.519] [path_visualizer] [debug] current_pose_x:3.989600179173209, current_pose_y:0.015547100227364245,current_pose_yaw:-0.01774323359131813 +[2026-10-09 17:42:31.520] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.520] [path_visualizer] [debug] current_cmd_angular_z:-0.001375601002864383 +[2026-10-09 17:42:31.571] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.572] [path_visualizer] [debug] current_pose_x:4.040202841590663, current_pose_y:0.015562213402392796,current_pose_yaw:-0.017790945246815685 +[2026-10-09 17:42:31.572] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.572] [path_visualizer] [debug] current_cmd_angular_z:-0.0013263615504386685 +[2026-10-09 17:42:31.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.625] [path_visualizer] [debug] current_pose_x:4.040202841590663, current_pose_y:0.015562213402392796,current_pose_yaw:-0.017790945246815685 +[2026-10-09 17:42:31.625] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.625] [path_visualizer] [debug] current_cmd_angular_z:-0.0013263615504386685 +[2026-10-09 17:42:31.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.674] [path_visualizer] [debug] current_pose_x:4.09080428787852, current_pose_y:0.015574932216539569,current_pose_yaw:-0.017838655039668083 +[2026-10-09 17:42:31.674] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.674] [path_visualizer] [debug] current_cmd_angular_z:-0.001272376082567389 +[2026-10-09 17:42:31.723] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.723] [path_visualizer] [debug] current_pose_x:4.09080428787852, current_pose_y:0.015574932216539569,current_pose_yaw:-0.017838655039668083 +[2026-10-09 17:42:31.723] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.723] [path_visualizer] [debug] current_cmd_angular_z:-0.001272376082567389 +[2026-10-09 17:42:31.771] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.771] [path_visualizer] [debug] current_pose_x:4.09080428787852, current_pose_y:0.015574932216539569,current_pose_yaw:-0.017838655039668083 +[2026-10-09 17:42:31.771] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.772] [path_visualizer] [debug] current_cmd_angular_z:-0.001272376082567389 +[2026-10-09 17:42:31.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.825] [path_visualizer] [debug] current_pose_x:4.141404527035821, current_pose_y:0.015589589120750163,current_pose_yaw:-0.017882542684674263 +[2026-10-09 17:42:31.825] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.825] [path_visualizer] [debug] current_cmd_angular_z:-0.0012285806499047584 +[2026-10-09 17:42:31.868] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.869] [path_visualizer] [debug] current_pose_x:4.141404527035821, current_pose_y:0.015589589120750163,current_pose_yaw:-0.017882542684674263 +[2026-10-09 17:42:31.869] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.869] [path_visualizer] [debug] current_cmd_angular_z:-0.0012285806499047584 +[2026-10-09 17:42:31.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.925] [path_visualizer] [debug] current_pose_x:4.141404527035821, current_pose_y:0.015589589120750163,current_pose_yaw:-0.017882542684674263 +[2026-10-09 17:42:31.925] [path_visualizer] [debug] current_path_x:4.068087959541034, current_path_y:1.1349400075443308e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.925] [path_visualizer] [debug] current_cmd_angular_z:-0.0012285806499047584 +[2026-10-09 17:42:31.971] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:31.971] [path_visualizer] [debug] current_pose_x:4.192003567688454, current_pose_y:0.015602048680948132,current_pose_yaw:-0.017926430329680446 +[2026-10-09 17:42:31.971] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:31.971] [path_visualizer] [debug] current_cmd_angular_z:-0.0011803196880391213 +[2026-10-09 17:42:32.020] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.020] [path_visualizer] [debug] current_pose_x:4.192003567688454, current_pose_y:0.015602048680948132,current_pose_yaw:-0.017926430329680446 +[2026-10-09 17:42:32.020] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.020] [path_visualizer] [debug] current_cmd_angular_z:-0.0011803196880391213 +[2026-10-09 17:42:32.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.071] [path_visualizer] [debug] current_pose_x:4.2426014036652315, current_pose_y:0.015616640837130455,current_pose_yaw:-0.0179664958268404 +[2026-10-09 17:42:32.071] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.071] [path_visualizer] [debug] current_cmd_angular_z:-0.0011427417505739043 +[2026-10-09 17:42:32.126] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.126] [path_visualizer] [debug] current_pose_x:4.2426014036652315, current_pose_y:0.015616640837130455,current_pose_yaw:-0.0179664958268404 +[2026-10-09 17:42:32.126] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.126] [path_visualizer] [debug] current_cmd_angular_z:-0.0011427417505739043 +[2026-10-09 17:42:32.174] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.174] [path_visualizer] [debug] current_pose_x:4.2426014036652315, current_pose_y:0.015616640837130455,current_pose_yaw:-0.0179664958268404 +[2026-10-09 17:42:32.174] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.174] [path_visualizer] [debug] current_cmd_angular_z:-0.0011427417505739043 +[2026-10-09 17:42:32.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.225] [path_visualizer] [debug] current_pose_x:4.293197533054251, current_pose_y:0.01563042803363721,current_pose_yaw:-0.018007086589932438 +[2026-10-09 17:42:32.225] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.225] [path_visualizer] [debug] current_cmd_angular_z:-0.0011026951113804265 +[2026-10-09 17:42:32.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.269] [path_visualizer] [debug] current_pose_x:4.293197533054251, current_pose_y:0.01563042803363721,current_pose_yaw:-0.018007086589932438 +[2026-10-09 17:42:32.269] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.270] [path_visualizer] [debug] current_cmd_angular_z:-0.0011026951113804265 +[2026-10-09 17:42:32.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.325] [path_visualizer] [debug] current_pose_x:4.293197533054251, current_pose_y:0.01563042803363721,current_pose_yaw:-0.018007086589932438 +[2026-10-09 17:42:32.325] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.325] [path_visualizer] [debug] current_cmd_angular_z:-0.0011026951113804265 +[2026-10-09 17:42:32.376] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.376] [path_visualizer] [debug] current_pose_x:4.343777730740831, current_pose_y:0.01564898373866615,current_pose_yaw:-0.018047034740447998 +[2026-10-09 17:42:32.376] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.376] [path_visualizer] [debug] current_cmd_angular_z:-0.0010731735271207916 +[2026-10-09 17:42:32.428] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.428] [path_visualizer] [debug] current_pose_x:4.343777730740831, current_pose_y:0.01564898373866615,current_pose_yaw:-0.018047034740447998 +[2026-10-09 17:42:32.428] [path_visualizer] [debug] current_path_x:4.261806433804893, current_path_y:1.1889847698083467e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.428] [path_visualizer] [debug] current_cmd_angular_z:-0.0010731735271207916 +[2026-10-09 17:42:32.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.472] [path_visualizer] [debug] current_pose_x:4.394352451366974, current_pose_y:0.015663057487496992,current_pose_yaw:-0.018083535134792328 +[2026-10-09 17:42:32.472] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.472] [path_visualizer] [debug] current_cmd_angular_z:-0.001040379304048343 +[2026-10-09 17:42:32.521] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.521] [path_visualizer] [debug] current_pose_x:4.394352451366974, current_pose_y:0.015663057487496992,current_pose_yaw:-0.018083535134792328 +[2026-10-09 17:42:32.521] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.521] [path_visualizer] [debug] current_cmd_angular_z:-0.001040379304048343 +[2026-10-09 17:42:32.569] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.569] [path_visualizer] [debug] current_pose_x:4.394352451366974, current_pose_y:0.015663057487496992,current_pose_yaw:-0.018083535134792328 +[2026-10-09 17:42:32.569] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.569] [path_visualizer] [debug] current_cmd_angular_z:-0.001040379304048343 +[2026-10-09 17:42:32.618] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.618] [path_visualizer] [debug] current_pose_x:4.444911715159349, current_pose_y:0.015682058256314517,current_pose_yaw:-0.018123352900147435 +[2026-10-09 17:42:32.618] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.618] [path_visualizer] [debug] current_cmd_angular_z:-0.0010119569627127963 +[2026-10-09 17:42:32.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.673] [path_visualizer] [debug] current_pose_x:4.444911715159349, current_pose_y:0.015682058256314517,current_pose_yaw:-0.018123352900147435 +[2026-10-09 17:42:32.673] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.673] [path_visualizer] [debug] current_cmd_angular_z:-0.0010119569627127963 +[2026-10-09 17:42:32.726] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.726] [path_visualizer] [debug] current_pose_x:4.495469453328871, current_pose_y:0.015699904900509862,current_pose_yaw:-0.01816369593143463 +[2026-10-09 17:42:32.726] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.726] [path_visualizer] [debug] current_cmd_angular_z:-0.0009803733665532423 +[2026-10-09 17:42:32.773] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.773] [path_visualizer] [debug] current_pose_x:4.495469453328871, current_pose_y:0.015699904900509862,current_pose_yaw:-0.01816369593143463 +[2026-10-09 17:42:32.773] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.773] [path_visualizer] [debug] current_cmd_angular_z:-0.0009803733665532423 +[2026-10-09 17:42:32.818] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.818] [path_visualizer] [debug] current_pose_x:4.495469453328871, current_pose_y:0.015699904900509862,current_pose_yaw:-0.01816369593143463 +[2026-10-09 17:42:32.818] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.819] [path_visualizer] [debug] current_cmd_angular_z:-0.0009803733665532423 +[2026-10-09 17:42:32.873] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.873] [path_visualizer] [debug] current_pose_x:4.5460280925155505, current_pose_y:0.015719953815433826,current_pose_yaw:-0.01820020191371441 +[2026-10-09 17:42:32.873] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.873] [path_visualizer] [debug] current_cmd_angular_z:-0.0009595285365951028 +[2026-10-09 17:42:32.922] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.922] [path_visualizer] [debug] current_pose_x:4.5460280925155505, current_pose_y:0.015719953815433826,current_pose_yaw:-0.01820020191371441 +[2026-10-09 17:42:32.922] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.922] [path_visualizer] [debug] current_cmd_angular_z:-0.0009595285365951028 +[2026-10-09 17:42:32.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:32.974] [path_visualizer] [debug] current_pose_x:4.5460280925155505, current_pose_y:0.015719953815433826,current_pose_yaw:-0.01820020191371441 +[2026-10-09 17:42:32.974] [path_visualizer] [debug] current_path_x:4.455524908068752, current_path_y:1.2430295320723624e-06,current_path_yaw:0.0 +[2026-10-09 17:42:32.974] [path_visualizer] [debug] current_cmd_angular_z:-0.0009595285365951028 +[2026-10-09 17:42:33.024] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.024] [path_visualizer] [debug] current_pose_x:4.596587441557211, current_pose_y:0.01573813490493956,current_pose_yaw:-0.018236685544252396 +[2026-10-09 17:42:33.024] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.025] [path_visualizer] [debug] current_cmd_angular_z:-0.000934908873509898 +[2026-10-09 17:42:33.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.074] [path_visualizer] [debug] current_pose_x:4.596587441557211, current_pose_y:0.01573813490493956,current_pose_yaw:-0.018236685544252396 +[2026-10-09 17:42:33.074] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.074] [path_visualizer] [debug] current_cmd_angular_z:-0.000934908873509898 +[2026-10-09 17:42:33.122] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.122] [path_visualizer] [debug] current_pose_x:4.6471474120253315, current_pose_y:0.015754473871828982,current_pose_yaw:-0.01827314682304859 +[2026-10-09 17:42:33.122] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.123] [path_visualizer] [debug] current_cmd_angular_z:-0.0009067797484087793 +[2026-10-09 17:42:33.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.169] [path_visualizer] [debug] current_pose_x:4.6471474120253315, current_pose_y:0.015754473871828982,current_pose_yaw:-0.01827314682304859 +[2026-10-09 17:42:33.169] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.169] [path_visualizer] [debug] current_cmd_angular_z:-0.0009067797484087793 +[2026-10-09 17:42:33.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.225] [path_visualizer] [debug] current_pose_x:4.6471474120253315, current_pose_y:0.015754473871828982,current_pose_yaw:-0.01827314682304859 +[2026-10-09 17:42:33.225] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.225] [path_visualizer] [debug] current_cmd_angular_z:-0.0009067797484087793 +[2026-10-09 17:42:33.271] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.271] [path_visualizer] [debug] current_pose_x:4.69770796070006, current_pose_y:0.01576898183592232,current_pose_yaw:-0.018309587612748146 +[2026-10-09 17:42:33.271] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.271] [path_visualizer] [debug] current_cmd_angular_z:-0.0008750529290304579 +[2026-10-09 17:42:33.319] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.319] [path_visualizer] [debug] current_pose_x:4.69770796070006, current_pose_y:0.01576898183592232,current_pose_yaw:-0.018309587612748146 +[2026-10-09 17:42:33.319] [path_visualizer] [debug] current_path_x:4.649243382332611, current_path_y:1.297074294336378e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.319] [path_visualizer] [debug] current_cmd_angular_z:-0.0008750529290304579 +[2026-10-09 17:42:33.369] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.370] [path_visualizer] [debug] current_pose_x:4.74827118693318, current_pose_y:0.0157838387640371,current_pose_yaw:-0.0183440949767828 +[2026-10-09 17:42:33.370] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.370] [path_visualizer] [debug] current_cmd_angular_z:-0.000847121139501663 +[2026-10-09 17:42:33.420] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.420] [path_visualizer] [debug] current_pose_x:4.74827118693318, current_pose_y:0.0157838387640371,current_pose_yaw:-0.0183440949767828 +[2026-10-09 17:42:33.420] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.420] [path_visualizer] [debug] current_cmd_angular_z:-0.000847121139501663 +[2026-10-09 17:42:33.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.472] [path_visualizer] [debug] current_pose_x:4.74827118693318, current_pose_y:0.0157838387640371,current_pose_yaw:-0.0183440949767828 +[2026-10-09 17:42:33.472] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.472] [path_visualizer] [debug] current_cmd_angular_z:-0.000847121139501663 +[2026-10-09 17:42:33.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.525] [path_visualizer] [debug] current_pose_x:4.798832857145942, current_pose_y:0.01579914238629157,current_pose_yaw:-0.018376665189862255 +[2026-10-09 17:42:33.525] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.525] [path_visualizer] [debug] current_cmd_angular_z:-0.0008233987990096982 +[2026-10-09 17:42:33.578] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.578] [path_visualizer] [debug] current_pose_x:4.798832857145942, current_pose_y:0.01579914238629157,current_pose_yaw:-0.018376665189862255 +[2026-10-09 17:42:33.578] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.578] [path_visualizer] [debug] current_cmd_angular_z:-0.0008233987990096982 +[2026-10-09 17:42:33.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.624] [path_visualizer] [debug] current_pose_x:4.798832857145942, current_pose_y:0.01579914238629157,current_pose_yaw:-0.018376665189862255 +[2026-10-09 17:42:33.624] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.624] [path_visualizer] [debug] current_cmd_angular_z:-0.0008233987990096982 +[2026-10-09 17:42:33.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.673] [path_visualizer] [debug] current_pose_x:4.849395053227551, current_pose_y:0.015812824649182197,current_pose_yaw:-0.018409209325909618 +[2026-10-09 17:42:33.673] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.673] [path_visualizer] [debug] current_cmd_angular_z:-0.0007965038602972679 +[2026-10-09 17:42:33.718] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.718] [path_visualizer] [debug] current_pose_x:4.849395053227551, current_pose_y:0.015812824649182197,current_pose_yaw:-0.018409209325909618 +[2026-10-09 17:42:33.718] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.718] [path_visualizer] [debug] current_cmd_angular_z:-0.0007965038602972679 +[2026-10-09 17:42:33.771] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.771] [path_visualizer] [debug] current_pose_x:4.8999577856392476, current_pose_y:0.015824885282989126,current_pose_yaw:-0.018441729247570038 +[2026-10-09 17:42:33.771] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.771] [path_visualizer] [debug] current_cmd_angular_z:-0.0007664326958334473 +[2026-10-09 17:42:33.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.825] [path_visualizer] [debug] current_pose_x:4.8999577856392476, current_pose_y:0.015824885282989126,current_pose_yaw:-0.018441729247570038 +[2026-10-09 17:42:33.825] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.825] [path_visualizer] [debug] current_cmd_angular_z:-0.0007664326958334473 +[2026-10-09 17:42:33.872] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.872] [path_visualizer] [debug] current_pose_x:4.8999577856392476, current_pose_y:0.015824885282989126,current_pose_yaw:-0.018441729247570038 +[2026-10-09 17:42:33.872] [path_visualizer] [debug] current_path_x:4.842961856596469, current_path_y:1.3511190566003936e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.872] [path_visualizer] [debug] current_cmd_angular_z:-0.0007664326958334473 +[2026-10-09 17:42:33.923] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.923] [path_visualizer] [debug] current_pose_x:4.950522633874543, current_pose_y:0.01583694398919607,current_pose_yaw:-0.018472788855433468 +[2026-10-09 17:42:33.923] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.923] [path_visualizer] [debug] current_cmd_angular_z:-0.0007386750747221046 +[2026-10-09 17:42:33.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:33.974] [path_visualizer] [debug] current_pose_x:4.950522633874543, current_pose_y:0.01583694398919607,current_pose_yaw:-0.018472788855433468 +[2026-10-09 17:42:33.974] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:33.974] [path_visualizer] [debug] current_cmd_angular_z:-0.0007386750747221046 +[2026-10-09 17:42:34.020] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.020] [path_visualizer] [debug] current_pose_x:5.001086431409227, current_pose_y:0.01585018094800055,current_pose_yaw:-0.018501434475183487 +[2026-10-09 17:42:34.020] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.020] [path_visualizer] [debug] current_cmd_angular_z:-0.0007173696099407878 +[2026-10-09 17:42:34.072] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.072] [path_visualizer] [debug] current_pose_x:5.001086431409227, current_pose_y:0.01585018094800055,current_pose_yaw:-0.018501434475183487 +[2026-10-09 17:42:34.072] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.073] [path_visualizer] [debug] current_cmd_angular_z:-0.0007173696099407878 +[2026-10-09 17:42:34.122] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.122] [path_visualizer] [debug] current_pose_x:5.001086431409227, current_pose_y:0.01585018094800055,current_pose_yaw:-0.018501434475183487 +[2026-10-09 17:42:34.122] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.123] [path_visualizer] [debug] current_cmd_angular_z:-0.0007173696099407878 +[2026-10-09 17:42:34.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.171] [path_visualizer] [debug] current_pose_x:5.051650728428232, current_pose_y:0.015861999360319873,current_pose_yaw:-0.018530050292611122 +[2026-10-09 17:42:34.171] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.171] [path_visualizer] [debug] current_cmd_angular_z:-0.0006933000023438482 +[2026-10-09 17:42:34.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.223] [path_visualizer] [debug] current_pose_x:5.051650728428232, current_pose_y:0.015861999360319873,current_pose_yaw:-0.018530050292611122 +[2026-10-09 17:42:34.223] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.223] [path_visualizer] [debug] current_cmd_angular_z:-0.0006933000023438482 +[2026-10-09 17:42:34.271] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.271] [path_visualizer] [debug] current_pose_x:5.051650728428232, current_pose_y:0.015861999360319873,current_pose_yaw:-0.018530050292611122 +[2026-10-09 17:42:34.271] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.271] [path_visualizer] [debug] current_cmd_angular_z:-0.0006933000023438482 +[2026-10-09 17:42:34.318] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.318] [path_visualizer] [debug] current_pose_x:5.102215539867865, current_pose_y:0.01587239855022783,current_pose_yaw:-0.01855863630771637 +[2026-10-09 17:42:34.318] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.318] [path_visualizer] [debug] current_cmd_angular_z:-0.0006664649112618042 +[2026-10-09 17:42:34.373] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.373] [path_visualizer] [debug] current_pose_x:5.102215539867865, current_pose_y:0.01587239855022783,current_pose_yaw:-0.01855863630771637 +[2026-10-09 17:42:34.373] [path_visualizer] [debug] current_path_x:5.036680330860329, current_path_y:1.4051638188644096e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.373] [path_visualizer] [debug] current_cmd_angular_z:-0.0006664649112618042 +[2026-10-09 17:42:34.426] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.426] [path_visualizer] [debug] current_pose_x:5.152780856777991, current_pose_y:0.015881380533415417,current_pose_yaw:-0.01858719252049923 +[2026-10-09 17:42:34.426] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.426] [path_visualizer] [debug] current_cmd_angular_z:-0.0006367611393527477 +[2026-10-09 17:42:34.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.473] [path_visualizer] [debug] current_pose_x:5.152780856777991, current_pose_y:0.015881380533415417,current_pose_yaw:-0.01858719252049923 +[2026-10-09 17:42:34.473] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.473] [path_visualizer] [debug] current_cmd_angular_z:-0.0006367611393527477 +[2026-10-09 17:42:34.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.525] [path_visualizer] [debug] current_pose_x:5.152780856777991, current_pose_y:0.015881380533415417,current_pose_yaw:-0.01858719252049923 +[2026-10-09 17:42:34.525] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.525] [path_visualizer] [debug] current_cmd_angular_z:-0.0006367611393527477 +[2026-10-09 17:42:34.572] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.572] [path_visualizer] [debug] current_pose_x:5.2033466646540205, current_pose_y:0.015892188232813634,current_pose_yaw:-0.018612850457429886 +[2026-10-09 17:42:34.572] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.572] [path_visualizer] [debug] current_cmd_angular_z:-0.0006155978029082076 +[2026-10-09 17:42:34.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.625] [path_visualizer] [debug] current_pose_x:5.2033466646540205, current_pose_y:0.015892188232813634,current_pose_yaw:-0.018612850457429886 +[2026-10-09 17:42:34.625] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.625] [path_visualizer] [debug] current_cmd_angular_z:-0.0006155978029082076 +[2026-10-09 17:42:34.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.673] [path_visualizer] [debug] current_pose_x:5.253912965653296, current_pose_y:0.015902838250740528,current_pose_yaw:-0.01863751746714115 +[2026-10-09 17:42:34.673] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.673] [path_visualizer] [debug] current_cmd_angular_z:-0.0005957669508238096 +[2026-10-09 17:42:34.725] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.725] [path_visualizer] [debug] current_pose_x:5.253912965653296, current_pose_y:0.015902838250740528,current_pose_yaw:-0.01863751746714115 +[2026-10-09 17:42:34.725] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.725] [path_visualizer] [debug] current_cmd_angular_z:-0.0005957669508238096 +[2026-10-09 17:42:34.771] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.771] [path_visualizer] [debug] current_pose_x:5.253912965653296, current_pose_y:0.015902838250740528,current_pose_yaw:-0.01863751746714115 +[2026-10-09 17:42:34.771] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.771] [path_visualizer] [debug] current_cmd_angular_z:-0.0005957669508238096 +[2026-10-09 17:42:34.823] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.823] [path_visualizer] [debug] current_pose_x:5.3044797443833795, current_pose_y:0.015912275189319355,current_pose_yaw:-0.018662150949239734 +[2026-10-09 17:42:34.823] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.823] [path_visualizer] [debug] current_cmd_angular_z:-0.0005735856759317703 +[2026-10-09 17:42:34.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.874] [path_visualizer] [debug] current_pose_x:5.3044797443833795, current_pose_y:0.015912275189319355,current_pose_yaw:-0.018662150949239734 +[2026-10-09 17:42:34.874] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.874] [path_visualizer] [debug] current_cmd_angular_z:-0.0005735856759317703 +[2026-10-09 17:42:34.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.925] [path_visualizer] [debug] current_pose_x:5.3044797443833795, current_pose_y:0.015912275189319355,current_pose_yaw:-0.018662150949239734 +[2026-10-09 17:42:34.925] [path_visualizer] [debug] current_path_x:5.230398805124188, current_path_y:1.4592085811284253e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.925] [path_visualizer] [debug] current_cmd_angular_z:-0.0005735856759317703 +[2026-10-09 17:42:34.971] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:34.971] [path_visualizer] [debug] current_pose_x:5.355047001088062, current_pose_y:0.015920498273292075,current_pose_yaw:-0.018686749041080475 +[2026-10-09 17:42:34.971] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:34.971] [path_visualizer] [debug] current_cmd_angular_z:-0.0005489483377209108 +[2026-10-09 17:42:35.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.025] [path_visualizer] [debug] current_pose_x:5.355047001088062, current_pose_y:0.015920498273292075,current_pose_yaw:-0.018686749041080475 +[2026-10-09 17:42:35.025] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.025] [path_visualizer] [debug] current_cmd_angular_z:-0.0005489483377209108 +[2026-10-09 17:42:35.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.071] [path_visualizer] [debug] current_pose_x:5.405611356561684, current_pose_y:0.015927408322001547,current_pose_yaw:-0.018708353862166405 +[2026-10-09 17:42:35.071] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.071] [path_visualizer] [debug] current_cmd_angular_z:-0.0005267835816768832 +[2026-10-09 17:42:35.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.119] [path_visualizer] [debug] current_pose_x:5.405611356561684, current_pose_y:0.015927408322001547,current_pose_yaw:-0.018708353862166405 +[2026-10-09 17:42:35.119] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.119] [path_visualizer] [debug] current_cmd_angular_z:-0.0005267835816768832 +[2026-10-09 17:42:35.176] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.176] [path_visualizer] [debug] current_pose_x:5.405611356561684, current_pose_y:0.015927408322001547,current_pose_yaw:-0.018708353862166405 +[2026-10-09 17:42:35.176] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.176] [path_visualizer] [debug] current_cmd_angular_z:-0.0005267835816768832 +[2026-10-09 17:42:35.220] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.220] [path_visualizer] [debug] current_pose_x:5.456160685011216, current_pose_y:0.01592865369094286,current_pose_yaw:-0.018725799396634102 +[2026-10-09 17:42:35.220] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.220] [path_visualizer] [debug] current_cmd_angular_z:-0.000500288858235786 +[2026-10-09 17:42:35.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.269] [path_visualizer] [debug] current_pose_x:5.456160685011216, current_pose_y:0.01592865369094286,current_pose_yaw:-0.018725799396634102 +[2026-10-09 17:42:35.269] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.269] [path_visualizer] [debug] current_cmd_angular_z:-0.000500288858235786 +[2026-10-09 17:42:35.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.325] [path_visualizer] [debug] current_pose_x:5.506708391647604, current_pose_y:0.01592887626098352,current_pose_yaw:-0.018742218613624573 +[2026-10-09 17:42:35.325] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.325] [path_visualizer] [debug] current_cmd_angular_z:-0.0004734694558444323 +[2026-10-09 17:42:35.372] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.372] [path_visualizer] [debug] current_pose_x:5.506708391647604, current_pose_y:0.01592887626098352,current_pose_yaw:-0.018742218613624573 +[2026-10-09 17:42:35.372] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.372] [path_visualizer] [debug] current_cmd_angular_z:-0.0004734694558444323 +[2026-10-09 17:42:35.426] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.426] [path_visualizer] [debug] current_pose_x:5.506708391647604, current_pose_y:0.01592887626098352,current_pose_yaw:-0.018742218613624573 +[2026-10-09 17:42:35.426] [path_visualizer] [debug] current_path_x:5.424117279388046, current_path_y:1.513253343392441e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.426] [path_visualizer] [debug] current_cmd_angular_z:-0.0004734694558444323 +[2026-10-09 17:42:35.477] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.477] [path_visualizer] [debug] current_pose_x:5.55725862911574, current_pose_y:0.015930845881275347,current_pose_yaw:-0.01875971630215645 +[2026-10-09 17:42:35.477] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.477] [path_visualizer] [debug] current_cmd_angular_z:-0.0004482174657726573 +[2026-10-09 17:42:35.524] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.524] [path_visualizer] [debug] current_pose_x:5.55725862911574, current_pose_y:0.015930845881275347,current_pose_yaw:-0.01875971630215645 +[2026-10-09 17:42:35.524] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.524] [path_visualizer] [debug] current_cmd_angular_z:-0.0004482174657726573 +[2026-10-09 17:42:35.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.573] [path_visualizer] [debug] current_pose_x:5.6078151138407595, current_pose_y:0.015943982318289977,current_pose_yaw:-0.018782434985041622 +[2026-10-09 17:42:35.573] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.573] [path_visualizer] [debug] current_cmd_angular_z:-0.000436553126116266 +[2026-10-09 17:42:35.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.625] [path_visualizer] [debug] current_pose_x:5.6078151138407595, current_pose_y:0.015943982318289977,current_pose_yaw:-0.018782434985041622 +[2026-10-09 17:42:35.625] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.625] [path_visualizer] [debug] current_cmd_angular_z:-0.000436553126116266 +[2026-10-09 17:42:35.670] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.670] [path_visualizer] [debug] current_pose_x:5.6078151138407595, current_pose_y:0.015943982318289977,current_pose_yaw:-0.018782434985041622 +[2026-10-09 17:42:35.670] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.670] [path_visualizer] [debug] current_cmd_angular_z:-0.000436553126116266 +[2026-10-09 17:42:35.723] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.723] [path_visualizer] [debug] current_pose_x:5.658375796332903, current_pose_y:0.015963244554934787,current_pose_yaw:-0.018804639577865604 +[2026-10-09 17:42:35.723] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.723] [path_visualizer] [debug] current_cmd_angular_z:-0.00043789258155956315 +[2026-10-09 17:42:35.772] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.772] [path_visualizer] [debug] current_pose_x:5.658375796332903, current_pose_y:0.015963244554934787,current_pose_yaw:-0.018804639577865604 +[2026-10-09 17:42:35.772] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.772] [path_visualizer] [debug] current_cmd_angular_z:-0.00043789258155956315 +[2026-10-09 17:42:35.826] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.826] [path_visualizer] [debug] current_pose_x:5.658375796332903, current_pose_y:0.015963244554934787,current_pose_yaw:-0.018804639577865604 +[2026-10-09 17:42:35.826] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.826] [path_visualizer] [debug] current_cmd_angular_z:-0.00043789258155956315 +[2026-10-09 17:42:35.878] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.878] [path_visualizer] [debug] current_pose_x:5.708935203524976, current_pose_y:0.015982774992711585,current_pose_yaw:-0.018825221806764606 +[2026-10-09 17:42:35.878] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.878] [path_visualizer] [debug] current_cmd_angular_z:-0.00044245761618486035 +[2026-10-09 17:42:35.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.925] [path_visualizer] [debug] current_pose_x:5.708935203524976, current_pose_y:0.015982774992711585,current_pose_yaw:-0.018825221806764606 +[2026-10-09 17:42:35.925] [path_visualizer] [debug] current_path_x:5.617835753651905, current_path_y:1.5672981056564567e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.925] [path_visualizer] [debug] current_cmd_angular_z:-0.00044245761618486035 +[2026-10-09 17:42:35.971] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:35.971] [path_visualizer] [debug] current_pose_x:5.759495086583435, current_pose_y:0.016001294334653977,current_pose_yaw:-0.01884561404585838 +[2026-10-09 17:42:35.971] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-09 17:42:35.971] [path_visualizer] [debug] current_cmd_angular_z:-0.0004452254324204055 +[2026-10-09 17:42:36.028] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.028] [path_visualizer] [debug] current_pose_x:5.759495086583435, current_pose_y:0.016001294334653977,current_pose_yaw:-0.01884561404585838 +[2026-10-09 17:42:36.028] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.028] [path_visualizer] [debug] current_cmd_angular_z:-0.0004452254324204055 +[2026-10-09 17:42:36.076] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.076] [path_visualizer] [debug] current_pose_x:5.759495086583435, current_pose_y:0.016001294334653977,current_pose_yaw:-0.01884561404585838 +[2026-10-09 17:42:36.076] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.076] [path_visualizer] [debug] current_cmd_angular_z:-0.0004452254324204055 +[2026-10-09 17:42:36.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.125] [path_visualizer] [debug] current_pose_x:5.810055491154204, current_pose_y:0.016018926321668948,current_pose_yaw:-0.018865812569856644 +[2026-10-09 17:42:36.125] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.125] [path_visualizer] [debug] current_cmd_angular_z:-0.00044666204069263027 +[2026-10-09 17:42:36.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.171] [path_visualizer] [debug] current_pose_x:5.810055491154204, current_pose_y:0.016018926321668948,current_pose_yaw:-0.018865812569856644 +[2026-10-09 17:42:36.171] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.171] [path_visualizer] [debug] current_cmd_angular_z:-0.00044666204069263027 +[2026-10-09 17:42:36.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.225] [path_visualizer] [debug] current_pose_x:5.860618542755947, current_pose_y:0.016033569647808964,current_pose_yaw:-0.0188877172768116 +[2026-10-09 17:42:36.225] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.225] [path_visualizer] [debug] current_cmd_angular_z:-0.00043933799432662596 +[2026-10-09 17:42:36.273] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.273] [path_visualizer] [debug] current_pose_x:5.860618542755947, current_pose_y:0.016033569647808964,current_pose_yaw:-0.0188877172768116 +[2026-10-09 17:42:36.273] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.273] [path_visualizer] [debug] current_cmd_angular_z:-0.00043933799432662596 +[2026-10-09 17:42:36.318] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.319] [path_visualizer] [debug] current_pose_x:5.860618542755947, current_pose_y:0.016033569647808964,current_pose_yaw:-0.0188877172768116 +[2026-10-09 17:42:36.319] [path_visualizer] [debug] current_path_x:5.811554227915764, current_path_y:1.6213428679204726e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.319] [path_visualizer] [debug] current_cmd_angular_z:-0.00043933799432662596 +[2026-10-09 17:42:36.377] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.377] [path_visualizer] [debug] current_pose_x:5.9111816087520905, current_pose_y:0.016047848277093837,current_pose_yaw:-0.01890893653035164 +[2026-10-09 17:42:36.377] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.377] [path_visualizer] [debug] current_cmd_angular_z:-0.00043232145237335345 +[2026-10-09 17:42:36.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.425] [path_visualizer] [debug] current_pose_x:5.9111816087520905, current_pose_y:0.016047848277093837,current_pose_yaw:-0.01890893653035164 +[2026-10-09 17:42:36.425] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.425] [path_visualizer] [debug] current_cmd_angular_z:-0.00043232145237335345 +[2026-10-09 17:42:36.471] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.471] [path_visualizer] [debug] current_pose_x:5.9111816087520905, current_pose_y:0.016047848277093837,current_pose_yaw:-0.01890893653035164 +[2026-10-09 17:42:36.471] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.472] [path_visualizer] [debug] current_cmd_angular_z:-0.00043232145237335345 +[2026-10-09 17:42:36.520] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.520] [path_visualizer] [debug] current_pose_x:5.961743544134912, current_pose_y:0.016062927796366894,current_pose_yaw:-0.01892849989235401 +[2026-10-09 17:42:36.520] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.520] [path_visualizer] [debug] current_cmd_angular_z:-0.0004297499155258566 +[2026-10-09 17:42:36.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.573] [path_visualizer] [debug] current_pose_x:5.961743544134912, current_pose_y:0.016062927796366894,current_pose_yaw:-0.01892849989235401 +[2026-10-09 17:42:36.573] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.573] [path_visualizer] [debug] current_cmd_angular_z:-0.0004297499155258566 +[2026-10-09 17:42:36.626] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.626] [path_visualizer] [debug] current_pose_x:6.012305966875823, current_pose_y:0.01607727004303674,current_pose_yaw:-0.018947837874293327 +[2026-10-09 17:42:36.626] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.626] [path_visualizer] [debug] current_cmd_angular_z:-0.0004260902303465375 +[2026-10-09 17:42:36.668] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.668] [path_visualizer] [debug] current_pose_x:6.012305966875823, current_pose_y:0.01607727004303674,current_pose_yaw:-0.018947837874293327 +[2026-10-09 17:42:36.668] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.668] [path_visualizer] [debug] current_cmd_angular_z:-0.0004260902303465375 +[2026-10-09 17:42:36.725] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.725] [path_visualizer] [debug] current_pose_x:6.012305966875823, current_pose_y:0.01607727004303674,current_pose_yaw:-0.018947837874293327 +[2026-10-09 17:42:36.725] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.725] [path_visualizer] [debug] current_cmd_angular_z:-0.0004260902303465375 +[2026-10-09 17:42:36.772] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.772] [path_visualizer] [debug] current_pose_x:6.062868855545029, current_pose_y:0.016090894657535472,current_pose_yaw:-0.01896694116294384 +[2026-10-09 17:42:36.772] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.772] [path_visualizer] [debug] current_cmd_angular_z:-0.00042139681552440245 +[2026-10-09 17:42:36.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.825] [path_visualizer] [debug] current_pose_x:6.062868855545029, current_pose_y:0.016090894657535472,current_pose_yaw:-0.01896694116294384 +[2026-10-09 17:42:36.825] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.825] [path_visualizer] [debug] current_cmd_angular_z:-0.00042139681552440245 +[2026-10-09 17:42:36.869] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.869] [path_visualizer] [debug] current_pose_x:6.062868855545029, current_pose_y:0.016090894657535472,current_pose_yaw:-0.01896694116294384 +[2026-10-09 17:42:36.869] [path_visualizer] [debug] current_path_x:6.005272702179623, current_path_y:1.6753876301844883e-06,current_path_yaw:0.0 +[2026-10-09 17:42:36.869] [path_visualizer] [debug] current_cmd_angular_z:-0.00042139681552440245 +[2026-10-09 17:42:36.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.925] [path_visualizer] [debug] current_pose_x:6.113432177383916, current_pose_y:0.01610382291835872,current_pose_yaw:-0.018985804170370105 +[2026-10-09 17:42:36.925] [path_visualizer] [debug] current_path_x:6.146262740500577, current_path_y:0.02017269184405583,current_path_yaw:0.142799666 +[2026-10-09 17:42:36.925] [path_visualizer] [debug] current_cmd_angular_z:0.2673337760016138 +[2026-10-09 17:42:36.968] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:36.968] [path_visualizer] [debug] current_pose_x:6.113432177383916, current_pose_y:0.01610382291835872,current_pose_yaw:-0.018985804170370105 +[2026-10-09 17:42:36.968] [path_visualizer] [debug] current_path_x:6.146262740500577, current_path_y:0.02017269184405583,current_path_yaw:0.142799666 +[2026-10-09 17:42:36.968] [path_visualizer] [debug] current_cmd_angular_z:0.2673337760016138 +[2026-10-09 17:42:37.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.025] [path_visualizer] [debug] current_pose_x:6.163995928541202, current_pose_y:0.01611607389104711,current_pose_yaw:-0.019004417583346367 +[2026-10-09 17:42:37.025] [path_visualizer] [debug] current_path_x:6.146262740500577, current_path_y:0.02017269184405583,current_path_yaw:0.142799666 +[2026-10-09 17:42:37.025] [path_visualizer] [debug] current_cmd_angular_z:0.28161351754963987 +[2026-10-09 17:42:37.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.071] [path_visualizer] [debug] current_pose_x:6.163995928541202, current_pose_y:0.01611607389104711,current_pose_yaw:-0.019004417583346367 +[2026-10-09 17:42:37.071] [path_visualizer] [debug] current_path_x:6.146262740500577, current_path_y:0.02017269184405583,current_path_yaw:0.142799666 +[2026-10-09 17:42:37.071] [path_visualizer] [debug] current_cmd_angular_z:0.28161351754963987 +[2026-10-09 17:42:37.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.125] [path_visualizer] [debug] current_pose_x:6.163995928541202, current_pose_y:0.01611607389104711,current_pose_yaw:-0.019004417583346367 +[2026-10-09 17:42:37.125] [path_visualizer] [debug] current_path_x:6.146262740500577, current_path_y:0.02017269184405583,current_path_yaw:0.142799666 +[2026-10-09 17:42:37.125] [path_visualizer] [debug] current_cmd_angular_z:0.28161351754963987 +[2026-10-09 17:42:37.173] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.173] [path_visualizer] [debug] current_pose_x:6.21455242592846, current_pose_y:0.019920674325123813,current_pose_yaw:-0.015641741454601288 +[2026-10-09 17:42:37.173] [path_visualizer] [debug] current_path_x:6.146262740500577, current_path_y:0.02017269184405583,current_path_yaw:0.142799666 +[2026-10-09 17:42:37.173] [path_visualizer] [debug] current_cmd_angular_z:0.28283185615800116 +[2026-10-09 17:42:37.219] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.219] [path_visualizer] [debug] current_pose_x:6.21455242592846, current_pose_y:0.019920674325123813,current_pose_yaw:-0.015641741454601288 +[2026-10-09 17:42:37.219] [path_visualizer] [debug] current_path_x:6.146262740500577, current_path_y:0.02017269184405583,current_path_yaw:0.142799666 +[2026-10-09 17:42:37.219] [path_visualizer] [debug] current_cmd_angular_z:0.28283185615800116 +[2026-10-09 17:42:37.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.269] [path_visualizer] [debug] current_pose_x:6.265029285707666, current_pose_y:0.030732879805725043,current_pose_yaw:-0.006284584291279315 +[2026-10-09 17:42:37.269] [path_visualizer] [debug] current_path_x:6.287252778821532, current_path_y:0.04034370830048148,current_path_yaw:0.285599332 +[2026-10-09 17:42:37.269] [path_visualizer] [debug] current_cmd_angular_z:0.49048737606104886 +[2026-10-09 17:42:37.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.325] [path_visualizer] [debug] current_pose_x:6.265029285707666, current_pose_y:0.030732879805725043,current_pose_yaw:-0.006284584291279315 +[2026-10-09 17:42:37.325] [path_visualizer] [debug] current_path_x:6.287252778821532, current_path_y:0.04034370830048148,current_path_yaw:0.285599332 +[2026-10-09 17:42:37.325] [path_visualizer] [debug] current_cmd_angular_z:0.49048737606104886 +[2026-10-09 17:42:37.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.374] [path_visualizer] [debug] current_pose_x:6.265029285707666, current_pose_y:0.030732879805725043,current_pose_yaw:-0.006284584291279315 +[2026-10-09 17:42:37.374] [path_visualizer] [debug] current_path_x:6.287252778821532, current_path_y:0.04034370830048148,current_path_yaw:0.285599332 +[2026-10-09 17:42:37.374] [path_visualizer] [debug] current_cmd_angular_z:0.49048737606104886 +[2026-10-09 17:42:37.428] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.428] [path_visualizer] [debug] current_pose_x:6.315403729382286, current_pose_y:0.04220632039372083,current_pose_yaw:0.0032212580554187298 +[2026-10-09 17:42:37.428] [path_visualizer] [debug] current_path_x:6.287252778821532, current_path_y:0.04034370830048148,current_path_yaw:0.285599332 +[2026-10-09 17:42:37.428] [path_visualizer] [debug] current_cmd_angular_z:0.48101900790289615 +[2026-10-09 17:42:37.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.473] [path_visualizer] [debug] current_pose_x:6.315403729382286, current_pose_y:0.04220632039372083,current_pose_yaw:0.0032212580554187298 +[2026-10-09 17:42:37.473] [path_visualizer] [debug] current_path_x:6.287252778821532, current_path_y:0.04034370830048148,current_path_yaw:0.285599332 +[2026-10-09 17:42:37.473] [path_visualizer] [debug] current_cmd_angular_z:0.48101900790289615 +[2026-10-09 17:42:37.522] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.522] [path_visualizer] [debug] current_pose_x:6.365469775391823, current_pose_y:0.05995755564641772,current_pose_yaw:0.017866062000393867 +[2026-10-09 17:42:37.522] [path_visualizer] [debug] current_path_x:6.41682066455334, current_path_y:0.0992224347612564,current_path_yaw:0.428398998 +[2026-10-09 17:42:37.522] [path_visualizer] [debug] current_cmd_angular_z:0.7101400195255549 +[2026-10-09 17:42:37.571] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.571] [path_visualizer] [debug] current_pose_x:6.365469775391823, current_pose_y:0.05995755564641772,current_pose_yaw:0.017866062000393867 +[2026-10-09 17:42:37.571] [path_visualizer] [debug] current_path_x:6.41682066455334, current_path_y:0.0992224347612564,current_path_yaw:0.428398998 +[2026-10-09 17:42:37.571] [path_visualizer] [debug] current_cmd_angular_z:0.7101400195255549 +[2026-10-09 17:42:37.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.624] [path_visualizer] [debug] current_pose_x:6.365469775391823, current_pose_y:0.05995755564641772,current_pose_yaw:0.017866062000393867 +[2026-10-09 17:42:37.624] [path_visualizer] [debug] current_path_x:6.41682066455334, current_path_y:0.0992224347612564,current_path_yaw:0.428398998 +[2026-10-09 17:42:37.624] [path_visualizer] [debug] current_cmd_angular_z:0.7101400195255549 +[2026-10-09 17:42:37.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.674] [path_visualizer] [debug] current_pose_x:6.415144341779388, current_pose_y:0.08085652479133718,current_pose_yaw:0.03461695089936257 +[2026-10-09 17:42:37.674] [path_visualizer] [debug] current_path_x:6.41682066455334, current_path_y:0.0992224347612564,current_path_yaw:0.428398998 +[2026-10-09 17:42:37.674] [path_visualizer] [debug] current_cmd_angular_z:0.6855519749523572 +[2026-10-09 17:42:37.724] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.724] [path_visualizer] [debug] 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current_pose_x:6.463956089437442, current_pose_y:0.1094954842538387,current_pose_yaw:0.05747922509908676 +[2026-10-09 17:42:37.825] [path_visualizer] [debug] current_path_x:6.41682066455334, current_path_y:0.0992224347612564,current_path_yaw:0.428398998 +[2026-10-09 17:42:37.825] [path_visualizer] [debug] current_cmd_angular_z:0.6361416563408869 +[2026-10-09 17:42:37.877] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.877] [path_visualizer] [debug] current_pose_x:6.463956089437442, current_pose_y:0.1094954842538387,current_pose_yaw:0.05747922509908676 +[2026-10-09 17:42:37.877] [path_visualizer] [debug] current_path_x:6.41682066455334, current_path_y:0.0992224347612564,current_path_yaw:0.428398998 +[2026-10-09 17:42:37.877] [path_visualizer] [debug] current_cmd_angular_z:0.6361416563408869 +[2026-10-09 17:42:37.922] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.922] [path_visualizer] [debug] current_pose_x:6.512080452112032, current_pose_y:0.13952094529251965,current_pose_yaw:0.0805535688996315 +[2026-10-09 17:42:37.922] [path_visualizer] [debug] current_path_x:6.5463885502851475, current_path_y:0.15810116122203133,current_path_yaw:0.571198664 +[2026-10-09 17:42:37.922] [path_visualizer] [debug] current_cmd_angular_z:0.8088319725442149 +[2026-10-09 17:42:37.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:37.974] [path_visualizer] [debug] current_pose_x:6.512080452112032, current_pose_y:0.13952094529251965,current_pose_yaw:0.0805535688996315 +[2026-10-09 17:42:37.974] [path_visualizer] [debug] current_path_x:6.5463885502851475, current_path_y:0.15810116122203133,current_path_yaw:0.571198664 +[2026-10-09 17:42:37.974] [path_visualizer] [debug] current_cmd_angular_z:0.8088319725442149 +[2026-10-09 17:42:38.021] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.021] [path_visualizer] [debug] current_pose_x:6.512080452112032, current_pose_y:0.13952094529251965,current_pose_yaw:0.0805535688996315 +[2026-10-09 17:42:38.021] [path_visualizer] [debug] current_path_x:6.5463885502851475, current_path_y:0.15810116122203133,current_path_yaw:0.571198664 +[2026-10-09 17:42:38.021] [path_visualizer] [debug] current_cmd_angular_z:0.8088319725442149 +[2026-10-09 17:42:38.069] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.069] [path_visualizer] [debug] current_pose_x:6.559673535711935, current_pose_y:0.16926328444393118,current_pose_yaw:0.10238046199083327 +[2026-10-09 17:42:38.069] [path_visualizer] [debug] current_path_x:6.5463885502851475, current_path_y:0.15810116122203133,current_path_yaw:0.571198664 +[2026-10-09 17:42:38.069] [path_visualizer] [debug] current_cmd_angular_z:0.7740008226855563 +[2026-10-09 17:42:38.122] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.122] [path_visualizer] [debug] current_pose_x:6.559673535711935, current_pose_y:0.16926328444393118,current_pose_yaw:0.10238046199083327 +[2026-10-09 17:42:38.122] [path_visualizer] [debug] current_path_x:6.5463885502851475, current_path_y:0.15810116122203133,current_path_yaw:0.571198664 +[2026-10-09 17:42:38.122] [path_visualizer] [debug] current_cmd_angular_z:0.7740008226855563 +[2026-10-09 17:42:38.177] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.177] [path_visualizer] [debug] current_pose_x:6.605915397990828, current_pose_y:0.20470749211886521,current_pose_yaw:0.12838780879974365 +[2026-10-09 17:42:38.177] [path_visualizer] [debug] current_path_x:6.654037359590546, current_path_y:0.2509175982974925,current_path_yaw:0.7139983299999999 +[2026-10-09 17:42:38.177] [path_visualizer] [debug] current_cmd_angular_z:0.9790541185221838 +[2026-10-09 17:42:38.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.225] [path_visualizer] [debug] current_pose_x:6.605915397990828, current_pose_y:0.20470749211886521,current_pose_yaw:0.12838780879974365 +[2026-10-09 17:42:38.225] [path_visualizer] [debug] current_path_x:6.654037359590546, current_path_y:0.2509175982974925,current_path_yaw:0.7139983299999999 +[2026-10-09 17:42:38.225] [path_visualizer] [debug] current_cmd_angular_z:0.9790541185221838 +[2026-10-09 17:42:38.273] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.273] [path_visualizer] [debug] current_pose_x:6.605915397990828, current_pose_y:0.20470749211886521,current_pose_yaw:0.12838780879974365 +[2026-10-09 17:42:38.273] [path_visualizer] [debug] current_path_x:6.654037359590546, current_path_y:0.2509175982974925,current_path_yaw:0.7139983299999999 +[2026-10-09 17:42:38.273] [path_visualizer] [debug] current_cmd_angular_z:0.9790541185221838 +[2026-10-09 17:42:38.327] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.327] [path_visualizer] [debug] current_pose_x:6.651216018508576, current_pose_y:0.24141979336817174,current_pose_yaw:0.15444469451904294 +[2026-10-09 17:42:38.327] [path_visualizer] [debug] current_path_x:6.654037359590546, current_path_y:0.2509175982974925,current_path_yaw:0.7139983299999999 +[2026-10-09 17:42:38.327] [path_visualizer] [debug] current_cmd_angular_z:0.939600629537727 +[2026-10-09 17:42:38.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.374] [path_visualizer] [debug] current_pose_x:6.651216018508576, current_pose_y:0.24141979336817174,current_pose_yaw:0.15444469451904294 +[2026-10-09 17:42:38.374] [path_visualizer] [debug] current_path_x:6.654037359590546, current_path_y:0.2509175982974925,current_path_yaw:0.7139983299999999 +[2026-10-09 17:42:38.374] [path_visualizer] [debug] current_cmd_angular_z:0.939600629537727 +[2026-10-09 17:42:38.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.425] [path_visualizer] [debug] current_pose_x:6.651216018508576, current_pose_y:0.24141979336817174,current_pose_yaw:0.15444469451904294 +[2026-10-09 17:42:38.425] [path_visualizer] [debug] current_path_x:6.654037359590546, current_path_y:0.2509175982974925,current_path_yaw:0.7139983299999999 +[2026-10-09 17:42:38.425] [path_visualizer] [debug] current_cmd_angular_z:0.939600629537727 +[2026-10-09 17:42:38.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.474] [path_visualizer] [debug] current_pose_x:6.694396284439537, current_pose_y:0.2849395376314324,current_pose_yaw:0.1856073588132858 +[2026-10-09 17:42:38.474] [path_visualizer] [debug] current_path_x:6.654037359590546, current_path_y:0.2509175982974925,current_path_yaw:0.7139983299999999 +[2026-10-09 17:42:38.474] [path_visualizer] [debug] current_cmd_angular_z:0.8787115777325994 +[2026-10-09 17:42:38.524] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.524] [path_visualizer] [debug] current_pose_x:6.694396284439537, current_pose_y:0.2849395376314324,current_pose_yaw:0.1856073588132858 +[2026-10-09 17:42:38.524] [path_visualizer] [debug] current_path_x:6.654037359590546, current_path_y:0.2509175982974925,current_path_yaw:0.7139983299999999 +[2026-10-09 17:42:38.524] [path_visualizer] [debug] current_cmd_angular_z:0.8787115777325994 +[2026-10-09 17:42:38.569] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.569] [path_visualizer] [debug] current_pose_x:6.736090923160211, current_pose_y:0.33032597344273446,current_pose_yaw:0.2172388881444931 +[2026-10-09 17:42:38.569] [path_visualizer] [debug] current_path_x:6.761686168895946, current_path_y:0.3437340353729536,current_path_yaw:0.856797996 +[2026-10-09 17:42:38.569] [path_visualizer] [debug] current_cmd_angular_z:1.0409097158868685 +[2026-10-09 17:42:38.618] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.618] [path_visualizer] [debug] current_pose_x:6.736090923160211, current_pose_y:0.33032597344273446,current_pose_yaw:0.2172388881444931 +[2026-10-09 17:42:38.618] [path_visualizer] [debug] current_path_x:6.761686168895946, current_path_y:0.3437340353729536,current_path_yaw:0.856797996 +[2026-10-09 17:42:38.618] [path_visualizer] [debug] current_cmd_angular_z:1.0409097158868685 +[2026-10-09 17:42:38.671] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.671] [path_visualizer] [debug] current_pose_x:6.736090923160211, current_pose_y:0.33032597344273446,current_pose_yaw:0.2172388881444931 +[2026-10-09 17:42:38.671] [path_visualizer] [debug] current_path_x:6.761686168895946, current_path_y:0.3437340353729536,current_path_yaw:0.856797996 +[2026-10-09 17:42:38.671] [path_visualizer] [debug] current_cmd_angular_z:1.0409097158868685 +[2026-10-09 17:42:38.718] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.718] [path_visualizer] [debug] current_pose_x:6.776808726397654, current_pose_y:0.37533856093242984,current_pose_yaw:0.24733775854110718 +[2026-10-09 17:42:38.719] [path_visualizer] [debug] current_path_x:6.761686168895946, current_path_y:0.3437340353729536,current_path_yaw:0.856797996 +[2026-10-09 17:42:38.719] [path_visualizer] [debug] current_cmd_angular_z:0.9935060381326366 +[2026-10-09 17:42:38.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.769] [path_visualizer] [debug] current_pose_x:6.776808726397654, current_pose_y:0.37533856093242984,current_pose_yaw:0.24733775854110718 +[2026-10-09 17:42:38.769] [path_visualizer] [debug] current_path_x:6.761686168895946, current_path_y:0.3437340353729536,current_path_yaw:0.856797996 +[2026-10-09 17:42:38.769] [path_visualizer] [debug] current_cmd_angular_z:0.9935060381326366 +[2026-10-09 17:42:38.818] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.818] [path_visualizer] [debug] current_pose_x:6.814938844952073, current_pose_y:0.4257167954776855,current_pose_yaw:0.28128206729888916 +[2026-10-09 17:42:38.818] [path_visualizer] [debug] current_path_x:6.8386949301250155, current_path_y:0.4629687766805124,current_path_yaw:0.9995976625 +[2026-10-09 17:42:38.818] [path_visualizer] [debug] current_cmd_angular_z:1.192928414284229 +[2026-10-09 17:42:38.869] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.869] [path_visualizer] [debug] current_pose_x:6.814938844952073, current_pose_y:0.4257167954776855,current_pose_yaw:0.28128206729888916 +[2026-10-09 17:42:38.869] [path_visualizer] [debug] current_path_x:6.8386949301250155, current_path_y:0.4629687766805124,current_path_yaw:0.9995976625 +[2026-10-09 17:42:38.869] [path_visualizer] [debug] current_cmd_angular_z:1.192928414284229 +[2026-10-09 17:42:38.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.925] [path_visualizer] [debug] current_pose_x:6.814938844952073, current_pose_y:0.4257167954776855,current_pose_yaw:0.28128206729888916 +[2026-10-09 17:42:38.925] [path_visualizer] [debug] current_path_x:6.8386949301250155, current_path_y:0.4629687766805124,current_path_yaw:0.9995976625 +[2026-10-09 17:42:38.925] [path_visualizer] [debug] current_cmd_angular_z:1.192928414284229 +[2026-10-09 17:42:38.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:38.973] [path_visualizer] [debug] current_pose_x:6.8513431281720285, current_pose_y:0.47737488004900386,current_pose_yaw:0.3152236342430115 +[2026-10-09 17:42:38.973] [path_visualizer] [debug] current_path_x:6.8386949301250155, current_path_y:0.4629687766805124,current_path_yaw:0.9995976625 +[2026-10-09 17:42:38.973] [path_visualizer] [debug] current_cmd_angular_z:1.1419240687627532 +[2026-10-09 17:42:39.028] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.028] [path_visualizer] [debug] current_pose_x:6.8513431281720285, current_pose_y:0.47737488004900386,current_pose_yaw:0.3152236342430115 +[2026-10-09 17:42:39.028] [path_visualizer] [debug] current_path_x:6.8386949301250155, current_path_y:0.4629687766805124,current_path_yaw:0.9995976625 +[2026-10-09 17:42:39.028] [path_visualizer] [debug] current_cmd_angular_z:1.1419240687627532 +[2026-10-09 17:42:39.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.073] [path_visualizer] [debug] current_pose_x:6.8513431281720285, current_pose_y:0.47737488004900386,current_pose_yaw:0.3152236342430115 +[2026-10-09 17:42:39.073] [path_visualizer] [debug] current_path_x:6.8386949301250155, current_path_y:0.4629687766805124,current_path_yaw:0.9995976625 +[2026-10-09 17:42:39.073] [path_visualizer] [debug] current_cmd_angular_z:1.1419240687627532 +[2026-10-09 17:42:39.131] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.131] [path_visualizer] [debug] current_pose_x:6.8846709569841025, current_pose_y:0.5356048775200926,current_pose_yaw:0.3540075123310089 +[2026-10-09 17:42:39.131] [path_visualizer] [debug] current_path_x:6.915703691354086, current_path_y:0.5822035179880711,current_path_yaw:1.142397329 +[2026-10-09 17:42:39.131] [path_visualizer] [debug] current_cmd_angular_z:1.2913708272387168 +[2026-10-09 17:42:39.172] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.172] [path_visualizer] [debug] current_pose_x:6.8846709569841025, current_pose_y:0.5356048775200926,current_pose_yaw:0.3540075123310089 +[2026-10-09 17:42:39.172] [path_visualizer] [debug] current_path_x:6.915703691354086, current_path_y:0.5822035179880711,current_path_yaw:1.142397329 +[2026-10-09 17:42:39.172] [path_visualizer] [debug] current_cmd_angular_z:1.2913708272387168 +[2026-10-09 17:42:39.224] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.224] [path_visualizer] [debug] current_pose_x:6.916141790274715, current_pose_y:0.5940287297896597,current_pose_yaw:0.39177030324935913 +[2026-10-09 17:42:39.224] [path_visualizer] [debug] current_path_x:6.915703691354086, current_path_y:0.5822035179880711,current_path_yaw:1.142397329 +[2026-10-09 17:42:39.224] [path_visualizer] [debug] current_cmd_angular_z:1.2373145695899113 +[2026-10-09 17:42:39.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.274] [path_visualizer] [debug] current_pose_x:6.916141790274715, current_pose_y:0.5940287297896597,current_pose_yaw:0.39177030324935913 +[2026-10-09 17:42:39.274] [path_visualizer] [debug] current_path_x:6.915703691354086, current_path_y:0.5822035179880711,current_path_yaw:1.142397329 +[2026-10-09 17:42:39.274] [path_visualizer] [debug] current_cmd_angular_z:1.2373145695899113 +[2026-10-09 17:42:39.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.325] [path_visualizer] [debug] current_pose_x:6.916141790274715, current_pose_y:0.5940287297896597,current_pose_yaw:0.39177030324935913 +[2026-10-09 17:42:39.325] [path_visualizer] [debug] current_path_x:6.915703691354086, current_path_y:0.5822035179880711,current_path_yaw:1.142397329 +[2026-10-09 17:42:39.325] [path_visualizer] [debug] current_cmd_angular_z:1.2373145695899113 +[2026-10-09 17:42:39.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.374] [path_visualizer] [debug] current_pose_x:6.944479343753782, current_pose_y:0.6561550002218153,current_pose_yaw:0.43193563818931574 +[2026-10-09 17:42:39.374] [path_visualizer] [debug] current_path_x:6.955833573678928, current_path_y:0.7181967851818496,current_path_yaw:1.285196995 +[2026-10-09 17:42:39.374] [path_visualizer] [debug] current_cmd_angular_z:1.4297324357136176 +[2026-10-09 17:42:39.424] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.424] [path_visualizer] [debug] current_pose_x:6.944479343753782, current_pose_y:0.6561550002218153,current_pose_yaw:0.43193563818931574 +[2026-10-09 17:42:39.425] [path_visualizer] [debug] current_path_x:6.955833573678928, current_path_y:0.7181967851818496,current_path_yaw:1.285196995 +[2026-10-09 17:42:39.425] [path_visualizer] [debug] current_cmd_angular_z:1.4297324357136176 +[2026-10-09 17:42:39.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.473] [path_visualizer] [debug] current_pose_x:6.970318904254335, current_pose_y:0.7197143846254155,current_pose_yaw:0.4723411500453949 +[2026-10-09 17:42:39.473] [path_visualizer] [debug] current_path_x:6.955833573678928, current_path_y:0.7181967851818496,current_path_yaw:1.285196995 +[2026-10-09 17:42:39.473] [path_visualizer] [debug] current_cmd_angular_z:1.3763054097563003 +[2026-10-09 17:42:39.522] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.522] [path_visualizer] [debug] current_pose_x:6.970318904254335, current_pose_y:0.7197143846254155,current_pose_yaw:0.4723411500453949 +[2026-10-09 17:42:39.522] [path_visualizer] [debug] current_path_x:6.955833573678928, current_path_y:0.7181967851818496,current_path_yaw:1.285196995 +[2026-10-09 17:42:39.522] [path_visualizer] [debug] current_cmd_angular_z:1.3763054097563003 +[2026-10-09 17:42:39.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.573] [path_visualizer] [debug] current_pose_x:6.970318904254335, current_pose_y:0.7197143846254155,current_pose_yaw:0.4723411500453949 +[2026-10-09 17:42:39.573] [path_visualizer] [debug] current_path_x:6.955833573678928, current_path_y:0.7181967851818496,current_path_yaw:1.285196995 +[2026-10-09 17:42:39.574] [path_visualizer] [debug] current_cmd_angular_z:1.3763054097563003 +[2026-10-09 17:42:39.622] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.622] [path_visualizer] [debug] current_pose_x:6.992228117040941, current_pose_y:0.7868504579088857,current_pose_yaw:0.5153374075889587 +[2026-10-09 17:42:39.622] [path_visualizer] [debug] current_path_x:6.99596345600377, current_path_y:0.854190052375628,current_path_yaw:1.427996661 +[2026-10-09 17:42:39.622] [path_visualizer] [debug] current_cmd_angular_z:1.5269648841779 +[2026-10-09 17:42:39.669] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.669] [path_visualizer] [debug] current_pose_x:6.992228117040941, current_pose_y:0.7868504579088857,current_pose_yaw:0.5153374075889587 +[2026-10-09 17:42:39.669] [path_visualizer] [debug] current_path_x:6.99596345600377, current_path_y:0.854190052375628,current_path_yaw:1.427996661 +[2026-10-09 17:42:39.669] [path_visualizer] [debug] current_cmd_angular_z:1.5269648841779 +[2026-10-09 17:42:39.721] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.721] [path_visualizer] [debug] current_pose_x:6.992228117040941, current_pose_y:0.7868504579088857,current_pose_yaw:0.5153374075889587 +[2026-10-09 17:42:39.721] [path_visualizer] [debug] current_path_x:6.99596345600377, current_path_y:0.854190052375628,current_path_yaw:1.427996661 +[2026-10-09 17:42:39.721] [path_visualizer] [debug] current_cmd_angular_z:1.5269648841779 +[2026-10-09 17:42:39.771] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.771] [path_visualizer] [debug] current_pose_x:7.0106523136674, current_pose_y:0.8560138247885186,current_pose_yaw:0.5594171285629272 +[2026-10-09 17:42:39.771] [path_visualizer] [debug] current_path_x:6.99596345600377, current_path_y:0.854190052375628,current_path_yaw:1.427996661 +[2026-10-09 17:42:39.771] [path_visualizer] [debug] current_cmd_angular_z:1.4704277444057388 +[2026-10-09 17:42:39.819] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.819] [path_visualizer] [debug] current_pose_x:7.0106523136674, 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current_pose_y:0.9290009869044826,current_pose_yaw:0.6067805290222168 +[2026-10-09 17:42:39.920] [path_visualizer] [debug] current_path_x:6.9959633636062, current_path_y:0.9959245781619435,current_path_yaw:1.570796327 +[2026-10-09 17:42:39.920] [path_visualizer] [debug] current_cmd_angular_z:1.6560331889030833 +[2026-10-09 17:42:39.970] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:39.970] [path_visualizer] [debug] current_pose_x:7.02393261042528, current_pose_y:0.9290009869044826,current_pose_yaw:0.6067805290222168 +[2026-10-09 17:42:39.970] [path_visualizer] [debug] current_path_x:6.9959633636062, current_path_y:0.9959245781619435,current_path_yaw:1.570796327 +[2026-10-09 17:42:39.970] [path_visualizer] [debug] current_cmd_angular_z:1.6560331889030833 +[2026-10-09 17:42:40.026] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.026] [path_visualizer] [debug] current_pose_x:7.034109762296362, current_pose_y:1.0022243851059383,current_pose_yaw:0.6536980867385863 +[2026-10-09 17:42:40.026] [path_visualizer] [debug] current_path_x:6.9959633636062, current_path_y:0.9959245781619435,current_path_yaw:1.570796327 +[2026-10-09 17:42:40.026] [path_visualizer] [debug] current_cmd_angular_z:1.5983217969635564 +[2026-10-09 17:42:40.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.071] [path_visualizer] [debug] current_pose_x:7.034109762296362, current_pose_y:1.0022243851059383,current_pose_yaw:0.6536980867385863 +[2026-10-09 17:42:40.071] [path_visualizer] [debug] current_path_x:6.9959633636062, current_path_y:0.9959245781619435,current_path_yaw:1.570796327 +[2026-10-09 17:42:40.071] [path_visualizer] [debug] current_cmd_angular_z:1.5983217969635564 +[2026-10-09 17:42:40.124] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.124] [path_visualizer] [debug] current_pose_x:7.038416112477866, current_pose_y:1.0787517831891966,current_pose_yaw:0.7040413022041321 +[2026-10-09 17:42:40.124] [path_visualizer] [debug] current_path_x:6.99596327120863, current_path_y:1.137659103948259,current_path_yaw:1.713595993 +[2026-10-09 17:42:40.124] [path_visualizer] [debug] current_cmd_angular_z:1.7428839307534894 +[2026-10-09 17:42:40.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.169] [path_visualizer] [debug] current_pose_x:7.038416112477866, current_pose_y:1.0787517831891966,current_pose_yaw:0.7040413022041321 +[2026-10-09 17:42:40.169] [path_visualizer] [debug] current_path_x:6.99596327120863, current_path_y:1.137659103948259,current_path_yaw:1.713595993 +[2026-10-09 17:42:40.169] [path_visualizer] [debug] current_cmd_angular_z:1.7428839307534894 +[2026-10-09 17:42:40.228] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.228] [path_visualizer] [debug] current_pose_x:7.038416112477866, current_pose_y:1.0787517831891966,current_pose_yaw:0.7040413022041321 +[2026-10-09 17:42:40.228] [path_visualizer] [debug] current_path_x:6.99596327120863, current_path_y:1.137659103948259,current_path_yaw:1.713595993 +[2026-10-09 17:42:40.228] [path_visualizer] [debug] current_cmd_angular_z:1.7428839307534894 +[2026-10-09 17:42:40.279] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.279] [path_visualizer] [debug] current_pose_x:7.038920708619489, current_pose_y:1.1554421079430406,current_pose_yaw:0.7543627619743346 +[2026-10-09 17:42:40.279] [path_visualizer] [debug] current_path_x:6.99596327120863, current_path_y:1.137659103948259,current_path_yaw:1.713595993 +[2026-10-09 17:42:40.279] [path_visualizer] [debug] current_cmd_angular_z:1.68197353482056 +[2026-10-09 17:42:40.324] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.324] [path_visualizer] [debug] current_pose_x:7.038920708619489, current_pose_y:1.1554421079430406,current_pose_yaw:0.7543627619743346 +[2026-10-09 17:42:40.324] [path_visualizer] [debug] current_path_x:6.99596327120863, current_path_y:1.137659103948259,current_path_yaw:1.713595993 +[2026-10-09 17:42:40.325] [path_visualizer] [debug] current_cmd_angular_z:1.68197353482056 +[2026-10-09 17:42:40.373] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.373] [path_visualizer] [debug] current_pose_x:7.0332878626236965, current_pose_y:1.2342710801664198,current_pose_yaw:0.8077532649040221 +[2026-10-09 17:42:40.373] [path_visualizer] [debug] current_path_x:6.955833214032888, current_path_y:1.2736523749854722,current_path_yaw:1.856395659 +[2026-10-09 17:42:40.373] [path_visualizer] [debug] current_cmd_angular_z:1.8664615590692535 +[2026-10-09 17:42:40.422] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.422] [path_visualizer] [debug] current_pose_x:7.0332878626236965, current_pose_y:1.2342710801664198,current_pose_yaw:0.8077532649040221 +[2026-10-09 17:42:40.422] [path_visualizer] [debug] current_path_x:6.955833214032888, current_path_y:1.2736523749854722,current_path_yaw:1.856395659 +[2026-10-09 17:42:40.422] [path_visualizer] [debug] current_cmd_angular_z:1.8664615590692535 +[2026-10-09 17:42:40.470] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.470] [path_visualizer] [debug] current_pose_x:7.0332878626236965, current_pose_y:1.2342710801664198,current_pose_yaw:0.8077532649040221 +[2026-10-09 17:42:40.470] [path_visualizer] [debug] current_path_x:6.955833214032888, current_path_y:1.2736523749854722,current_path_yaw:1.856395659 +[2026-10-09 17:42:40.470] [path_visualizer] [debug] current_cmd_angular_z:1.8664615590692535 +[2026-10-09 17:42:40.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.525] [path_visualizer] [debug] current_pose_x:7.023991525097696, current_pose_y:1.3123437484645635,current_pose_yaw:0.8605520725250245 +[2026-10-09 17:42:40.525] [path_visualizer] [debug] current_path_x:6.955833214032888, current_path_y:1.2736523749854722,current_path_yaw:1.856395659 +[2026-10-09 17:42:40.525] [path_visualizer] [debug] current_cmd_angular_z:1.8047349380630933 +[2026-10-09 17:42:40.570] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.570] [path_visualizer] [debug] current_pose_x:7.023991525097696, current_pose_y:1.3123437484645635,current_pose_yaw:0.8605520725250245 +[2026-10-09 17:42:40.570] [path_visualizer] [debug] current_path_x:6.955833214032888, current_path_y:1.2736523749854722,current_path_yaw:1.856395659 +[2026-10-09 17:42:40.570] [path_visualizer] [debug] current_cmd_angular_z:1.8047349380630933 +[2026-10-09 17:42:40.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.624] [path_visualizer] [debug] current_pose_x:7.023991525097696, current_pose_y:1.3123437484645635,current_pose_yaw:0.8605520725250245 +[2026-10-09 17:42:40.624] [path_visualizer] [debug] current_path_x:6.955833214032888, current_path_y:1.2736523749854722,current_path_yaw:1.856395659 +[2026-10-09 17:42:40.624] [path_visualizer] [debug] current_cmd_angular_z:1.8047349380630933 +[2026-10-09 17:42:40.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.673] [path_visualizer] [debug] current_pose_x:7.00691391505852, current_pose_y:1.39253299470707,current_pose_yaw:0.9177178740501403 +[2026-10-09 17:42:40.673] [path_visualizer] [debug] current_path_x:6.915703156857146, current_path_y:1.4096456460226856,current_path_yaw:1.999195325 +[2026-10-09 17:42:40.673] [path_visualizer] [debug] current_cmd_angular_z:1.9460429422025618 +[2026-10-09 17:42:40.720] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.720] [path_visualizer] [debug] current_pose_x:7.00691391505852, current_pose_y:1.39253299470707,current_pose_yaw:0.9177178740501403 +[2026-10-09 17:42:40.720] [path_visualizer] [debug] current_path_x:6.915703156857146, current_path_y:1.4096456460226856,current_path_yaw:1.999195325 +[2026-10-09 17:42:40.720] [path_visualizer] [debug] current_cmd_angular_z:1.9460429422025618 +[2026-10-09 17:42:40.773] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.773] [path_visualizer] [debug] current_pose_x:6.986328081143693, current_pose_y:1.4706704207203112,current_pose_yaw:0.9733965396881104 +[2026-10-09 17:42:40.773] [path_visualizer] [debug] current_path_x:6.915703156857146, current_path_y:1.4096456460226856,current_path_yaw:1.999195325 +[2026-10-09 17:42:40.773] [path_visualizer] [debug] current_cmd_angular_z:1.8808401686533398 +[2026-10-09 17:42:40.820] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.820] [path_visualizer] [debug] current_pose_x:6.986328081143693, current_pose_y:1.4706704207203112,current_pose_yaw:0.9733965396881104 +[2026-10-09 17:42:40.820] [path_visualizer] [debug] current_path_x:6.915703156857146, current_path_y:1.4096456460226856,current_path_yaw:1.999195325 +[2026-10-09 17:42:40.820] [path_visualizer] [debug] current_cmd_angular_z:1.8808401686533398 +[2026-10-09 17:42:40.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.874] [path_visualizer] [debug] current_pose_x:6.986328081143693, current_pose_y:1.4706704207203112,current_pose_yaw:0.9733965396881104 +[2026-10-09 17:42:40.874] [path_visualizer] [debug] current_path_x:6.915703156857146, current_path_y:1.4096456460226856,current_path_yaw:1.999195325 +[2026-10-09 17:42:40.874] [path_visualizer] [debug] current_cmd_angular_z:1.8808401686533398 +[2026-10-09 17:42:40.924] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.924] [path_visualizer] [debug] current_pose_x:6.95827411650497, current_pose_y:1.5491885832781211,current_pose_yaw:1.0324146747589111 +[2026-10-09 17:42:40.924] [path_visualizer] [debug] current_path_x:6.83869425091352, current_path_y:1.5288802342267218,current_path_yaw:2.141994991 +[2026-10-09 17:42:40.924] [path_visualizer] [debug] current_cmd_angular_z:2.0635455321138014 +[2026-10-09 17:42:40.969] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:40.969] [path_visualizer] [debug] current_pose_x:6.95827411650497, current_pose_y:1.5491885832781211,current_pose_yaw:1.0324146747589111 +[2026-10-09 17:42:40.969] [path_visualizer] [debug] current_path_x:6.83869425091352, current_path_y:1.5288802342267218,current_path_yaw:2.141994991 +[2026-10-09 17:42:40.969] [path_visualizer] [debug] current_cmd_angular_z:2.0635455321138014 +[2026-10-09 17:42:41.018] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.018] [path_visualizer] [debug] current_pose_x:6.95827411650497, current_pose_y:1.5491885832781211,current_pose_yaw:1.0324146747589111 +[2026-10-09 17:42:41.018] [path_visualizer] [debug] current_path_x:6.83869425091352, current_path_y:1.5288802342267218,current_path_yaw:2.141994991 +[2026-10-09 17:42:41.018] [path_visualizer] [debug] current_cmd_angular_z:2.0635455321138014 +[2026-10-09 17:42:41.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.074] [path_visualizer] [debug] current_pose_x:6.9267412632298555, current_pose_y:1.625193360813853,current_pose_yaw:1.0901172161102295 +[2026-10-09 17:42:41.074] [path_visualizer] [debug] current_path_x:6.83869425091352, current_path_y:1.5288802342267218,current_path_yaw:2.141994991 +[2026-10-09 17:42:41.074] [path_visualizer] [debug] current_cmd_angular_z:1.9966292459470805 +[2026-10-09 17:42:41.118] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.118] [path_visualizer] [debug] current_pose_x:6.9267412632298555, current_pose_y:1.625193360813853,current_pose_yaw:1.0901172161102295 +[2026-10-09 17:42:41.118] [path_visualizer] [debug] current_path_x:6.83869425091352, current_path_y:1.5288802342267218,current_path_yaw:2.141994991 +[2026-10-09 17:42:41.118] [path_visualizer] [debug] current_cmd_angular_z:1.9966292459470805 +[2026-10-09 17:42:41.173] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.173] [path_visualizer] [debug] current_pose_x:6.886984755985729, current_pose_y:1.7006963166059716,current_pose_yaw:1.1517047882080078 +[2026-10-09 17:42:41.174] [path_visualizer] [debug] current_path_x:6.761685344969894, current_path_y:1.648114822430758,current_path_yaw:2.284794657 +[2026-10-09 17:42:41.174] [path_visualizer] [debug] current_cmd_angular_z:2.137392150930692 +[2026-10-09 17:42:41.222] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.222] [path_visualizer] [debug] current_pose_x:6.886984755985729, current_pose_y:1.7006963166059716,current_pose_yaw:1.1517047882080078 +[2026-10-09 17:42:41.222] [path_visualizer] [debug] current_path_x:6.761685344969894, current_path_y:1.648114822430758,current_path_yaw:2.284794657 +[2026-10-09 17:42:41.222] [path_visualizer] [debug] current_cmd_angular_z:2.137392150930692 +[2026-10-09 17:42:41.270] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.270] [path_visualizer] [debug] current_pose_x:6.886984755985729, current_pose_y:1.7006963166059716,current_pose_yaw:1.1517047882080078 +[2026-10-09 17:42:41.270] [path_visualizer] [debug] current_path_x:6.761685344969894, current_path_y:1.648114822430758,current_path_yaw:2.284794657 +[2026-10-09 17:42:41.270] [path_visualizer] [debug] current_cmd_angular_z:2.137392150930692 +[2026-10-09 17:42:41.320] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.320] [path_visualizer] [debug] current_pose_x:6.842801778703759, current_pose_y:1.7734041070926625,current_pose_yaw:1.2129936218261719 +[2026-10-09 17:42:41.320] [path_visualizer] [debug] current_path_x:6.761685344969894, current_path_y:1.648114822430758,current_path_yaw:2.284794657 +[2026-10-09 17:42:41.320] [path_visualizer] [debug] current_cmd_angular_z:2.0638432935229827 +[2026-10-09 17:42:41.369] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.369] [path_visualizer] [debug] current_pose_x:6.842801778703759, current_pose_y:1.7734041070926625,current_pose_yaw:1.2129936218261719 +[2026-10-09 17:42:41.369] [path_visualizer] [debug] current_path_x:6.761685344969894, current_path_y:1.648114822430758,current_path_yaw:2.284794657 +[2026-10-09 17:42:41.369] [path_visualizer] [debug] current_cmd_angular_z:2.0638432935229827 +[2026-10-09 17:42:41.421] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.421] [path_visualizer] [debug] current_pose_x:6.791719762341662, current_pose_y:1.8427625730684305,current_pose_yaw:1.276374340057373 +[2026-10-09 17:42:41.421] [path_visualizer] [debug] current_path_x:6.654036435297827, current_path_y:1.7409311269251064,current_path_yaw:2.427594323 +[2026-10-09 17:42:41.421] [path_visualizer] [debug] current_cmd_angular_z:2.2428529107778497 +[2026-10-09 17:42:41.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.473] [path_visualizer] [debug] current_pose_x:6.791719762341662, current_pose_y:1.8427625730684305,current_pose_yaw:1.276374340057373 +[2026-10-09 17:42:41.473] [path_visualizer] [debug] current_path_x:6.654036435297827, current_path_y:1.7409311269251064,current_path_yaw:2.427594323 +[2026-10-09 17:42:41.474] [path_visualizer] [debug] current_cmd_angular_z:2.2428529107778497 +[2026-10-09 17:42:41.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.525] [path_visualizer] [debug] current_pose_x:6.791719762341662, current_pose_y:1.8427625730684305,current_pose_yaw:1.276374340057373 +[2026-10-09 17:42:41.525] [path_visualizer] [debug] current_path_x:6.654036435297827, current_path_y:1.7409311269251064,current_path_yaw:2.427594323 +[2026-10-09 17:42:41.525] [path_visualizer] [debug] current_cmd_angular_z:2.2428529107778497 +[2026-10-09 17:42:41.569] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.569] [path_visualizer] [debug] current_pose_x:6.7372781363009295, current_pose_y:1.9096767153449719,current_pose_yaw:1.339019775390625 +[2026-10-09 17:42:41.569] [path_visualizer] [debug] current_path_x:6.654036435297827, current_path_y:1.7409311269251064,current_path_yaw:2.427594323 +[2026-10-09 17:42:41.569] [path_visualizer] [debug] current_cmd_angular_z:2.168433043550656 +[2026-10-09 17:42:41.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.624] [path_visualizer] [debug] current_pose_x:6.7372781363009295, current_pose_y:1.9096767153449719,current_pose_yaw:1.339019775390625 +[2026-10-09 17:42:41.624] [path_visualizer] [debug] current_path_x:6.654036435297827, current_path_y:1.7409311269251064,current_path_yaw:2.427594323 +[2026-10-09 17:42:41.624] [path_visualizer] [debug] current_cmd_angular_z:2.168433043550656 +[2026-10-09 17:42:41.675] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.675] [path_visualizer] [debug] current_pose_x:6.6762955648882265, current_pose_y:1.9708075406787318,current_pose_yaw:1.403731346130371 +[2026-10-09 17:42:41.675] [path_visualizer] [debug] current_path_x:6.546387525625759, current_path_y:1.8337474314194548,current_path_yaw:2.570393989 +[2026-10-09 17:42:41.675] [path_visualizer] [debug] current_cmd_angular_z:2.305014574452809 +[2026-10-09 17:42:41.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.722] [path_visualizer] [debug] current_pose_x:6.6762955648882265, current_pose_y:1.9708075406787318,current_pose_yaw:1.403731346130371 +[2026-10-09 17:42:41.722] [path_visualizer] [debug] current_path_x:6.546387525625759, current_path_y:1.8337474314194548,current_path_yaw:2.570393989 +[2026-10-09 17:42:41.722] [path_visualizer] [debug] current_cmd_angular_z:2.305014574452809 +[2026-10-09 17:42:41.773] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.773] [path_visualizer] [debug] current_pose_x:6.6762955648882265, current_pose_y:1.9708075406787318,current_pose_yaw:1.403731346130371 +[2026-10-09 17:42:41.773] [path_visualizer] [debug] current_path_x:6.546387525625759, current_path_y:1.8337474314194548,current_path_yaw:2.570393989 +[2026-10-09 17:42:41.773] [path_visualizer] [debug] current_cmd_angular_z:2.305014574452809 +[2026-10-09 17:42:41.823] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.823] [path_visualizer] [debug] current_pose_x:6.611797677721283, current_pose_y:2.028073321852493,current_pose_yaw:1.4681767225265503 +[2026-10-09 17:42:41.823] [path_visualizer] [debug] current_path_x:6.546387525625759, current_path_y:1.8337474314194548,current_path_yaw:2.570393989 +[2026-10-09 17:42:41.823] [path_visualizer] [debug] current_cmd_angular_z:2.2244053588746198 +[2026-10-09 17:42:41.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.871] [path_visualizer] [debug] current_pose_x:6.611797677721283, current_pose_y:2.028073321852493,current_pose_yaw:1.4681767225265503 +[2026-10-09 17:42:41.871] [path_visualizer] [debug] current_path_x:6.546387525625759, current_path_y:1.8337474314194548,current_path_yaw:2.570393989 +[2026-10-09 17:42:41.871] [path_visualizer] [debug] current_cmd_angular_z:2.2244053588746198 +[2026-10-09 17:42:41.919] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.919] [path_visualizer] [debug] current_pose_x:6.611797677721283, current_pose_y:2.028073321852493,current_pose_yaw:1.4681767225265503 +[2026-10-09 17:42:41.919] [path_visualizer] [debug] current_path_x:6.546387525625759, current_path_y:1.8337474314194548,current_path_yaw:2.570393989 +[2026-10-09 17:42:41.919] [path_visualizer] [debug] current_cmd_angular_z:2.2244053588746198 +[2026-10-09 17:42:41.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:41.974] [path_visualizer] [debug] current_pose_x:6.541847566126526, current_pose_y:2.078858709982347,current_pose_yaw:1.5344618558883665 +[2026-10-09 17:42:41.974] [path_visualizer] [debug] current_path_x:6.416819591356274, current_path_y:1.8926260022366739,current_path_yaw:2.713193655 +[2026-10-09 17:42:41.974] [path_visualizer] [debug] current_cmd_angular_z:2.3960723013959004 +[2026-10-09 17:42:42.021] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.021] [path_visualizer] [debug] current_pose_x:6.541847566126526, current_pose_y:2.078858709982347,current_pose_yaw:1.5344618558883665 +[2026-10-09 17:42:42.021] [path_visualizer] [debug] current_path_x:6.416819591356274, current_path_y:1.8926260022366739,current_path_yaw:2.713193655 +[2026-10-09 17:42:42.021] [path_visualizer] [debug] current_cmd_angular_z:2.3960723013959004 +[2026-10-09 17:42:42.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.074] [path_visualizer] [debug] current_pose_x:6.4698229271498136, current_pose_y:2.126355521633226,current_pose_yaw:1.599546194076538 +[2026-10-09 17:42:42.074] [path_visualizer] [debug] current_path_x:6.416819591356274, current_path_y:1.8926260022366739,current_path_yaw:2.713193655 +[2026-10-09 17:42:42.074] [path_visualizer] [debug] current_cmd_angular_z:2.3143618587213797 +[2026-10-09 17:42:42.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.120] [path_visualizer] [debug] current_pose_x:6.4698229271498136, current_pose_y:2.126355521633226,current_pose_yaw:1.599546194076538 +[2026-10-09 17:42:42.120] [path_visualizer] [debug] current_path_x:6.416819591356274, current_path_y:1.8926260022366739,current_path_yaw:2.713193655 +[2026-10-09 17:42:42.120] [path_visualizer] [debug] current_cmd_angular_z:2.3143618587213797 +[2026-10-09 17:42:42.173] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.173] [path_visualizer] [debug] current_pose_x:6.4698229271498136, current_pose_y:2.126355521633226,current_pose_yaw:1.599546194076538 +[2026-10-09 17:42:42.173] [path_visualizer] [debug] current_path_x:6.416819591356274, current_path_y:1.8926260022366739,current_path_yaw:2.713193655 +[2026-10-09 17:42:42.173] [path_visualizer] [debug] current_cmd_angular_z:2.3143618587213797 +[2026-10-09 17:42:42.218] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.219] [path_visualizer] [debug] current_pose_x:6.394191904146743, current_pose_y:2.16609820948568,current_pose_yaw:1.6658421754837034 +[2026-10-09 17:42:42.219] [path_visualizer] [debug] current_path_x:6.28725165708679, current_path_y:1.9515045730538931,current_path_yaw:2.855993321 +[2026-10-09 17:42:42.219] [path_visualizer] [debug] current_cmd_angular_z:2.4441646768290193 +[2026-10-09 17:42:42.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.269] [path_visualizer] [debug] current_pose_x:6.394191904146743, current_pose_y:2.16609820948568,current_pose_yaw:1.6658421754837034 +[2026-10-09 17:42:42.269] [path_visualizer] [debug] current_path_x:6.28725165708679, current_path_y:1.9515045730538931,current_path_yaw:2.855993321 +[2026-10-09 17:42:42.269] [path_visualizer] [debug] current_cmd_angular_z:2.4441646768290193 +[2026-10-09 17:42:42.319] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.319] [path_visualizer] [debug] current_pose_x:6.394191904146743, current_pose_y:2.16609820948568,current_pose_yaw:1.6658421754837034 +[2026-10-09 17:42:42.319] [path_visualizer] [debug] current_path_x:6.28725165708679, current_path_y:1.9515045730538931,current_path_yaw:2.855993321 +[2026-10-09 17:42:42.319] [path_visualizer] [debug] current_cmd_angular_z:2.4441646768290193 +[2026-10-09 17:42:42.371] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.371] [path_visualizer] [debug] current_pose_x:6.317498738207198, current_pose_y:2.1989103631901985,current_pose_yaw:1.731903553009033 +[2026-10-09 17:42:42.371] [path_visualizer] [debug] current_path_x:6.28725165708679, current_path_y:1.9515045730538931,current_path_yaw:2.855993321 +[2026-10-09 17:42:42.371] [path_visualizer] [debug] current_cmd_angular_z:2.354071576864001 +[2026-10-09 17:42:42.423] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.423] [path_visualizer] [debug] current_pose_x:6.317498738207198, current_pose_y:2.1989103631901985,current_pose_yaw:1.731903553009033 +[2026-10-09 17:42:42.423] [path_visualizer] [debug] current_path_x:6.28725165708679, current_path_y:1.9515045730538931,current_path_yaw:2.855993321 +[2026-10-09 17:42:42.423] [path_visualizer] [debug] current_cmd_angular_z:2.354071576864001 +[2026-10-09 17:42:42.471] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.471] [path_visualizer] [debug] current_pose_x:6.238851907722567, current_pose_y:2.223510092250956,current_pose_yaw:1.7997183799743652 +[2026-10-09 17:42:42.471] [path_visualizer] [debug] current_path_x:6.146261621227925, current_path_y:1.9716754289978446,current_path_yaw:2.9987929875000003 +[2026-10-09 17:42:42.471] [path_visualizer] [debug] current_cmd_angular_z:2.51138060366301 +[2026-10-09 17:42:42.523] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.523] [path_visualizer] [debug] current_pose_x:6.238851907722567, current_pose_y:2.223510092250956,current_pose_yaw:1.7997183799743652 +[2026-10-09 17:42:42.523] [path_visualizer] [debug] current_path_x:6.146261621227925, current_path_y:1.9716754289978446,current_path_yaw:2.9987929875000003 +[2026-10-09 17:42:42.523] [path_visualizer] [debug] current_cmd_angular_z:2.51138060366301 +[2026-10-09 17:42:42.572] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.572] [path_visualizer] [debug] current_pose_x:6.238851907722567, current_pose_y:2.223510092250956,current_pose_yaw:1.7997183799743652 +[2026-10-09 17:42:42.572] [path_visualizer] [debug] current_path_x:6.146261621227925, current_path_y:1.9716754289978446,current_path_yaw:2.9987929875000003 +[2026-10-09 17:42:42.572] [path_visualizer] [debug] current_cmd_angular_z:2.51138060366301 +[2026-10-09 17:42:42.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.624] [path_visualizer] [debug] current_pose_x:6.160619519218416, current_pose_y:2.2429492875916988,current_pose_yaw:1.8668948411941528 +[2026-10-09 17:42:42.624] [path_visualizer] [debug] current_path_x:6.146261621227925, current_path_y:1.9716754289978446,current_path_yaw:2.9987929875000003 +[2026-10-09 17:42:42.624] [path_visualizer] [debug] current_cmd_angular_z:2.415928651817417 +[2026-10-09 17:42:42.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.674] [path_visualizer] [debug] current_pose_x:6.160619519218416, current_pose_y:2.2429492875916988,current_pose_yaw:1.8668948411941528 +[2026-10-09 17:42:42.674] [path_visualizer] [debug] current_path_x:6.146261621227925, current_path_y:1.9716754289978446,current_path_yaw:2.9987929875000003 +[2026-10-09 17:42:42.674] [path_visualizer] [debug] current_cmd_angular_z:2.415928651817417 +[2026-10-09 17:42:42.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.723] [path_visualizer] [debug] current_pose_x:6.082355735988977, current_pose_y:2.2530255923965172,current_pose_yaw:1.9347014427185059 +[2026-10-09 17:42:42.723] [path_visualizer] [debug] current_path_x:6.00527158536906, current_path_y:1.9918462849417964,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:42.723] [path_visualizer] [debug] current_cmd_angular_z:2.521841495035634 +[2026-10-09 17:42:42.775] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.775] [path_visualizer] [debug] current_pose_x:6.082355735988977, current_pose_y:2.2530255923965172,current_pose_yaw:1.9347014427185059 +[2026-10-09 17:42:42.775] [path_visualizer] [debug] current_path_x:6.00527158536906, current_path_y:1.9918462849417964,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:42.775] [path_visualizer] [debug] current_cmd_angular_z:2.521841495035634 +[2026-10-09 17:42:42.819] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.819] [path_visualizer] [debug] current_pose_x:6.082355735988977, current_pose_y:2.2530255923965172,current_pose_yaw:1.9347014427185059 +[2026-10-09 17:42:42.819] [path_visualizer] [debug] current_path_x:6.00527158536906, current_path_y:1.9918462849417964,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:42.819] [path_visualizer] [debug] current_cmd_angular_z:2.521841495035634 +[2026-10-09 17:42:42.869] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.869] [path_visualizer] [debug] current_pose_x:6.005272667675468, current_pose_y:2.258463281836452,current_pose_yaw:2.001546621322632 +[2026-10-09 17:42:42.869] [path_visualizer] [debug] current_path_x:6.00527158536906, current_path_y:1.9918462849417964,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:42.869] [path_visualizer] [debug] current_cmd_angular_z:2.4216437203888797 +[2026-10-09 17:42:42.924] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.924] [path_visualizer] [debug] current_pose_x:6.005272667675468, current_pose_y:2.258463281836452,current_pose_yaw:2.001546621322632 +[2026-10-09 17:42:42.924] [path_visualizer] [debug] current_path_x:6.00527158536906, current_path_y:1.9918462849417964,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:42.924] [path_visualizer] [debug] current_cmd_angular_z:2.4216437203888797 +[2026-10-09 17:42:42.969] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:42.969] [path_visualizer] [debug] current_pose_x:6.005272667675468, current_pose_y:2.258463281836452,current_pose_yaw:2.001546621322632 +[2026-10-09 17:42:42.969] [path_visualizer] [debug] current_path_x:6.00527158536906, current_path_y:1.9918462849417964,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:42.969] [path_visualizer] [debug] current_cmd_angular_z:2.4216437203888797 +[2026-10-09 17:42:43.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.025] [path_visualizer] [debug] current_pose_x:5.928355752454426, current_pose_y:2.2545757164459195,current_pose_yaw:2.0692906379699707 +[2026-10-09 17:42:43.025] [path_visualizer] [debug] current_path_x:6.00527158536906, current_path_y:1.9918462849417964,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.025] [path_visualizer] [debug] current_cmd_angular_z:2.301457376101496 +[2026-10-09 17:42:43.072] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.072] [path_visualizer] [debug] current_pose_x:5.928355752454426, current_pose_y:2.2545757164459195,current_pose_yaw:2.0692906379699707 +[2026-10-09 17:42:43.072] [path_visualizer] [debug] current_path_x:6.00527158536906, current_path_y:1.9918462849417964,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.072] [path_visualizer] [debug] current_cmd_angular_z:2.301457376101496 +[2026-10-09 17:42:43.128] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.128] [path_visualizer] [debug] current_pose_x:5.851779783220964, current_pose_y:2.2458049407298906,current_pose_yaw:2.1361849308013916 +[2026-10-09 17:42:43.128] [path_visualizer] [debug] current_path_x:5.809978200496851, current_path_y:1.991846248622873,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.128] [path_visualizer] [debug] current_cmd_angular_z:2.172996272065827 +[2026-10-09 17:42:43.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.171] [path_visualizer] [debug] current_pose_x:5.851779783220964, current_pose_y:2.2458049407298906,current_pose_yaw:2.1361849308013916 +[2026-10-09 17:42:43.171] [path_visualizer] [debug] current_path_x:5.809978200496851, current_path_y:1.991846248622873,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.171] [path_visualizer] [debug] current_cmd_angular_z:2.172996272065827 +[2026-10-09 17:42:43.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.225] [path_visualizer] [debug] current_pose_x:5.851779783220964, current_pose_y:2.2458049407298906,current_pose_yaw:2.1361849308013916 +[2026-10-09 17:42:43.225] [path_visualizer] [debug] current_path_x:5.809978200496851, current_path_y:1.991846248622873,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.225] [path_visualizer] [debug] current_cmd_angular_z:2.172996272065827 +[2026-10-09 17:42:43.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.275] [path_visualizer] [debug] current_pose_x:5.776305408815755, current_pose_y:2.2332428416375762,current_pose_yaw:2.201879024505615 +[2026-10-09 17:42:43.275] [path_visualizer] [debug] current_path_x:5.809978200496851, current_path_y:1.991846248622873,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.275] [path_visualizer] [debug] current_cmd_angular_z:2.0390078684696684 +[2026-10-09 17:42:43.319] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.319] [path_visualizer] [debug] current_pose_x:5.776305408815755, current_pose_y:2.2332428416375762,current_pose_yaw:2.201879024505615 +[2026-10-09 17:42:43.319] [path_visualizer] [debug] current_path_x:5.809978200496851, current_path_y:1.991846248622873,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.319] [path_visualizer] [debug] current_cmd_angular_z:2.0390078684696684 +[2026-10-09 17:42:43.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.374] [path_visualizer] [debug] current_pose_x:5.704335733091019, current_pose_y:2.2240968748153205,current_pose_yaw:2.2641735076904297 +[2026-10-09 17:42:43.374] [path_visualizer] [debug] current_path_x:5.614684815624641, current_path_y:1.9918462123039493,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.374] [path_visualizer] [debug] current_cmd_angular_z:1.917439663136584 +[2026-10-09 17:42:43.423] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.423] [path_visualizer] [debug] current_pose_x:5.704335733091019, current_pose_y:2.2240968748153205,current_pose_yaw:2.2641735076904297 +[2026-10-09 17:42:43.423] [path_visualizer] [debug] current_path_x:5.614684815624641, current_path_y:1.9918462123039493,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.423] [path_visualizer] [debug] current_cmd_angular_z:1.917439663136584 +[2026-10-09 17:42:43.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.474] [path_visualizer] [debug] current_pose_x:5.704335733091019, current_pose_y:2.2240968748153205,current_pose_yaw:2.2641735076904297 +[2026-10-09 17:42:43.474] [path_visualizer] [debug] current_path_x:5.614684815624641, current_path_y:1.9918462123039493,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.474] [path_visualizer] [debug] current_cmd_angular_z:1.917439663136584 +[2026-10-09 17:42:43.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.519] [path_visualizer] [debug] current_pose_x:5.633827043286012, current_pose_y:2.21546025662981,current_pose_yaw:2.3236477375030518 +[2026-10-09 17:42:43.519] [path_visualizer] [debug] current_path_x:5.614684815624641, current_path_y:1.9918462123039493,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.519] [path_visualizer] [debug] current_cmd_angular_z:1.801564128766665 +[2026-10-09 17:42:43.571] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.571] [path_visualizer] [debug] current_pose_x:5.633827043286012, current_pose_y:2.21546025662981,current_pose_yaw:2.3236477375030518 +[2026-10-09 17:42:43.571] [path_visualizer] [debug] current_path_x:5.614684815624641, current_path_y:1.9918462123039493,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.572] [path_visualizer] [debug] current_cmd_angular_z:1.801564128766665 +[2026-10-09 17:42:43.619] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.619] [path_visualizer] [debug] current_pose_x:5.565408008645783, current_pose_y:2.2063547047499927,current_pose_yaw:2.379783868789673 +[2026-10-09 17:42:43.619] [path_visualizer] [debug] current_path_x:5.614684815624641, current_path_y:1.9918462123039493,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.619] [path_visualizer] [debug] current_cmd_angular_z:1.6903007372604573 +[2026-10-09 17:42:43.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.673] [path_visualizer] [debug] current_pose_x:5.565408008645783, current_pose_y:2.2063547047499927,current_pose_yaw:2.379783868789673 +[2026-10-09 17:42:43.673] [path_visualizer] [debug] current_path_x:5.614684815624641, current_path_y:1.9918462123039493,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.673] [path_visualizer] [debug] current_cmd_angular_z:1.6903007372604573 +[2026-10-09 17:42:43.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.722] [path_visualizer] [debug] current_pose_x:5.565408008645783, current_pose_y:2.2063547047499927,current_pose_yaw:2.379783868789673 +[2026-10-09 17:42:43.722] [path_visualizer] [debug] current_path_x:5.614684815624641, current_path_y:1.9918462123039493,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.722] [path_visualizer] [debug] current_cmd_angular_z:1.6903007372604573 +[2026-10-09 17:42:43.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.774] [path_visualizer] [debug] current_pose_x:5.499123702056419, current_pose_y:2.1973764334058634,current_pose_yaw:2.4322972297668457 +[2026-10-09 17:42:43.774] [path_visualizer] [debug] current_path_x:5.419391430752432, current_path_y:1.991846175985026,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.774] [path_visualizer] [debug] current_cmd_angular_z:1.5853047659791952 +[2026-10-09 17:42:43.820] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.820] [path_visualizer] [debug] current_pose_x:5.499123702056419, current_pose_y:2.1973764334058634,current_pose_yaw:2.4322972297668457 +[2026-10-09 17:42:43.820] [path_visualizer] [debug] current_path_x:5.419391430752432, current_path_y:1.991846175985026,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.820] [path_visualizer] [debug] current_cmd_angular_z:1.5853047659791952 +[2026-10-09 17:42:43.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.874] [path_visualizer] [debug] current_pose_x:5.499123702056419, current_pose_y:2.1973764334058634,current_pose_yaw:2.4322972297668457 +[2026-10-09 17:42:43.874] [path_visualizer] [debug] current_path_x:5.419391430752432, current_path_y:1.991846175985026,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.874] [path_visualizer] [debug] current_cmd_angular_z:1.5853047659791952 +[2026-10-09 17:42:43.923] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.923] [path_visualizer] [debug] current_pose_x:5.434517055063794, current_pose_y:2.1882132617856076,current_pose_yaw:2.4818661212921143 +[2026-10-09 17:42:43.923] [path_visualizer] [debug] current_path_x:5.419391430752432, current_path_y:1.991846175985026,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.923] [path_visualizer] [debug] current_cmd_angular_z:1.48483069012757 +[2026-10-09 17:42:43.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:43.973] [path_visualizer] [debug] current_pose_x:5.434517055063794, current_pose_y:2.1882132617856076,current_pose_yaw:2.4818661212921143 +[2026-10-09 17:42:43.973] [path_visualizer] [debug] current_path_x:5.419391430752432, current_path_y:1.991846175985026,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:43.973] [path_visualizer] [debug] current_cmd_angular_z:1.48483069012757 +[2026-10-09 17:42:44.027] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.028] [path_visualizer] [debug] current_pose_x:5.371296059720047, current_pose_y:2.1787859828725327,current_pose_yaw:2.5288245677948 +[2026-10-09 17:42:44.028] [path_visualizer] [debug] current_path_x:5.419391430752432, current_path_y:1.991846175985026,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.028] [path_visualizer] [debug] current_cmd_angular_z:1.3881668965444942 +[2026-10-09 17:42:44.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.074] [path_visualizer] [debug] current_pose_x:5.371296059720047, current_pose_y:2.1787859828725327,current_pose_yaw:2.5288245677948 +[2026-10-09 17:42:44.074] [path_visualizer] [debug] current_path_x:5.419391430752432, current_path_y:1.991846175985026,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.074] [path_visualizer] [debug] current_cmd_angular_z:1.3881668965444942 +[2026-10-09 17:42:44.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.125] [path_visualizer] [debug] current_pose_x:5.371296059720047, current_pose_y:2.1787859828725327,current_pose_yaw:2.5288245677948 +[2026-10-09 17:42:44.125] [path_visualizer] [debug] current_path_x:5.419391430752432, current_path_y:1.991846175985026,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.125] [path_visualizer] [debug] current_cmd_angular_z:1.3881668965444942 +[2026-10-09 17:42:44.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.169] [path_visualizer] [debug] current_pose_x:5.309180363357287, current_pose_y:2.1687813717863382,current_pose_yaw:2.5736706256866455 +[2026-10-09 17:42:44.169] [path_visualizer] [debug] current_path_x:5.224098045880222, current_path_y:1.9918461396661022,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.169] [path_visualizer] [debug] current_cmd_angular_z:1.2938652654339131 +[2026-10-09 17:42:44.219] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.219] [path_visualizer] [debug] current_pose_x:5.309180363357287, current_pose_y:2.1687813717863382,current_pose_yaw:2.5736706256866455 +[2026-10-09 17:42:44.219] [path_visualizer] [debug] current_path_x:5.224098045880222, current_path_y:1.9918461396661022,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.220] [path_visualizer] [debug] current_cmd_angular_z:1.2938652654339131 +[2026-10-09 17:42:44.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.269] [path_visualizer] [debug] current_pose_x:5.248416825744748, current_pose_y:2.159530370750412,current_pose_yaw:2.6153225898742676 +[2026-10-09 17:42:44.269] [path_visualizer] [debug] current_path_x:5.224098045880222, current_path_y:1.9918461396661022,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.269] [path_visualizer] [debug] current_cmd_angular_z:1.2063614747853237 +[2026-10-09 17:42:44.328] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.328] [path_visualizer] [debug] current_pose_x:5.248416825744748, current_pose_y:2.159530370750412,current_pose_yaw:2.6153225898742676 +[2026-10-09 17:42:44.328] [path_visualizer] [debug] current_path_x:5.224098045880222, current_path_y:1.9918461396661022,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.328] [path_visualizer] [debug] current_cmd_angular_z:1.2063614747853237 +[2026-10-09 17:42:44.373] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.373] [path_visualizer] [debug] current_pose_x:5.248416825744748, current_pose_y:2.159530370750412,current_pose_yaw:2.6153225898742676 +[2026-10-09 17:42:44.373] [path_visualizer] [debug] current_path_x:5.224098045880222, current_path_y:1.9918461396661022,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.373] [path_visualizer] [debug] current_cmd_angular_z:1.2063614747853237 +[2026-10-09 17:42:44.418] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.418] [path_visualizer] [debug] current_pose_x:5.185774794585711, current_pose_y:2.150754167088918,current_pose_yaw:2.6540329456329346 +[2026-10-09 17:42:44.418] [path_visualizer] [debug] current_path_x:5.224098045880222, current_path_y:1.9918461396661022,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.418] [path_visualizer] [debug] current_cmd_angular_z:1.1246833821464703 +[2026-10-09 17:42:44.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.473] [path_visualizer] [debug] current_pose_x:5.185774794585711, current_pose_y:2.150754167088918,current_pose_yaw:2.6540329456329346 +[2026-10-09 17:42:44.473] [path_visualizer] [debug] current_path_x:5.224098045880222, current_path_y:1.9918461396661022,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.473] [path_visualizer] [debug] current_cmd_angular_z:1.1246833821464703 +[2026-10-09 17:42:44.524] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.524] [path_visualizer] [debug] current_pose_x:5.185774794585711, current_pose_y:2.150754167088918,current_pose_yaw:2.6540329456329346 +[2026-10-09 17:42:44.524] [path_visualizer] [debug] current_path_x:5.224098045880222, current_path_y:1.9918461396661022,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.524] [path_visualizer] [debug] current_cmd_angular_z:1.1246833821464703 +[2026-10-09 17:42:44.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.574] [path_visualizer] [debug] current_pose_x:5.1261001973718, current_pose_y:2.1408328588730585,current_pose_yaw:2.6906604766845703 +[2026-10-09 17:42:44.574] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.574] [path_visualizer] [debug] current_cmd_angular_z:1.0441922157770818 +[2026-10-09 17:42:44.621] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.621] [path_visualizer] [debug] current_pose_x:5.1261001973718, current_pose_y:2.1408328588730585,current_pose_yaw:2.6906604766845703 +[2026-10-09 17:42:44.621] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.621] [path_visualizer] [debug] current_cmd_angular_z:1.0441922157770818 +[2026-10-09 17:42:44.669] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.669] [path_visualizer] [debug] current_pose_x:5.067847049266957, current_pose_y:2.1299180243864986,current_pose_yaw:2.7251250743865967 +[2026-10-09 17:42:44.669] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.669] [path_visualizer] [debug] current_cmd_angular_z:0.9653214852321693 +[2026-10-09 17:42:44.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.722] [path_visualizer] [debug] current_pose_x:5.067847049266957, current_pose_y:2.1299180243864986,current_pose_yaw:2.7251250743865967 +[2026-10-09 17:42:44.722] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.722] [path_visualizer] [debug] current_cmd_angular_z:0.9653214852321693 +[2026-10-09 17:42:44.773] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.773] [path_visualizer] [debug] current_pose_x:5.067847049266957, current_pose_y:2.1299180243864986,current_pose_yaw:2.7251250743865967 +[2026-10-09 17:42:44.773] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.773] [path_visualizer] [debug] current_cmd_angular_z:0.9653214852321693 +[2026-10-09 17:42:44.823] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.823] [path_visualizer] [debug] current_pose_x:5.01004573447853, current_pose_y:2.1181250539464465,current_pose_yaw:2.7578835487365723 +[2026-10-09 17:42:44.823] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.823] [path_visualizer] [debug] current_cmd_angular_z:0.8875416913477487 +[2026-10-09 17:42:44.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.874] [path_visualizer] [debug] current_pose_x:5.01004573447853, current_pose_y:2.1181250539464465,current_pose_yaw:2.7578835487365723 +[2026-10-09 17:42:44.874] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.874] [path_visualizer] [debug] current_cmd_angular_z:0.8875416913477487 +[2026-10-09 17:42:44.924] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.924] [path_visualizer] [debug] current_pose_x:4.953146442541296, current_pose_y:2.1072655490980106,current_pose_yaw:2.787651538848877 +[2026-10-09 17:42:44.924] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.925] [path_visualizer] [debug] current_cmd_angular_z:0.8165784920258228 +[2026-10-09 17:42:44.969] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:44.969] [path_visualizer] [debug] current_pose_x:4.953146442541296, current_pose_y:2.1072655490980106,current_pose_yaw:2.787651538848877 +[2026-10-09 17:42:44.969] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:44.969] [path_visualizer] [debug] current_cmd_angular_z:0.8165784920258228 +[2026-10-09 17:42:45.020] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.020] [path_visualizer] [debug] current_pose_x:4.953146442541296, current_pose_y:2.1072655490980106,current_pose_yaw:2.787651538848877 +[2026-10-09 17:42:45.020] [path_visualizer] [debug] current_path_x:5.028804661008013, current_path_y:1.9918461033471788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.020] [path_visualizer] [debug] current_cmd_angular_z:0.8165784920258228 +[2026-10-09 17:42:45.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.074] [path_visualizer] [debug] current_pose_x:4.896933194936972, current_pose_y:2.097240379961887,current_pose_yaw:2.814591407775879 +[2026-10-09 17:42:45.074] [path_visualizer] [debug] current_path_x:4.833511276135803, current_path_y:1.9918460670282552,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.074] [path_visualizer] [debug] current_cmd_angular_z:0.7519657677373803 +[2026-10-09 17:42:45.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.119] [path_visualizer] [debug] current_pose_x:4.896933194936972, current_pose_y:2.097240379961887,current_pose_yaw:2.814591407775879 +[2026-10-09 17:42:45.119] [path_visualizer] [debug] current_path_x:4.833511276135803, current_path_y:1.9918460670282552,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.119] [path_visualizer] [debug] current_cmd_angular_z:0.7519657677373803 +[2026-10-09 17:42:45.172] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.172] [path_visualizer] [debug] current_pose_x:4.896933194936972, current_pose_y:2.097240379961887,current_pose_yaw:2.814591407775879 +[2026-10-09 17:42:45.172] [path_visualizer] [debug] current_path_x:4.833511276135803, current_path_y:1.9918460670282552,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.172] [path_visualizer] [debug] current_cmd_angular_z:0.7519657677373803 +[2026-10-09 17:42:45.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.223] [path_visualizer] [debug] current_pose_x:4.841137521060164, current_pose_y:2.087073458284992,current_pose_yaw:2.839869976043701 +[2026-10-09 17:42:45.223] [path_visualizer] [debug] current_path_x:4.833511276135803, current_path_y:1.9918460670282552,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.223] [path_visualizer] [debug] current_cmd_angular_z:0.6898300726710107 +[2026-10-09 17:42:45.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.274] [path_visualizer] [debug] current_pose_x:4.841137521060164, current_pose_y:2.087073458284992,current_pose_yaw:2.839869976043701 +[2026-10-09 17:42:45.274] [path_visualizer] [debug] current_path_x:4.833511276135803, current_path_y:1.9918460670282552,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.274] [path_visualizer] [debug] current_cmd_angular_z:0.6898300726710107 +[2026-10-09 17:42:45.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.325] [path_visualizer] [debug] current_pose_x:4.785621147890631, current_pose_y:2.0768513250728535,current_pose_yaw:2.8633549213409424 +[2026-10-09 17:42:45.326] [path_visualizer] [debug] current_path_x:4.833511276135803, current_path_y:1.9918460670282552,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.326] [path_visualizer] [debug] current_cmd_angular_z:0.6305628239378496 +[2026-10-09 17:42:45.373] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.373] [path_visualizer] [debug] current_pose_x:4.785621147890631, current_pose_y:2.0768513250728535,current_pose_yaw:2.8633549213409424 +[2026-10-09 17:42:45.373] [path_visualizer] [debug] current_path_x:4.833511276135803, current_path_y:1.9918460670282552,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.373] [path_visualizer] [debug] current_cmd_angular_z:0.6305628239378496 +[2026-10-09 17:42:45.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.425] [path_visualizer] [debug] current_pose_x:4.785621147890631, current_pose_y:2.0768513250728535,current_pose_yaw:2.8633549213409424 +[2026-10-09 17:42:45.425] [path_visualizer] [debug] current_path_x:4.833511276135803, current_path_y:1.9918460670282552,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.426] [path_visualizer] [debug] current_cmd_angular_z:0.6305628239378496 +[2026-10-09 17:42:45.469] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.469] [path_visualizer] [debug] current_pose_x:4.730326220734344, current_pose_y:2.0661899308807534,current_pose_yaw:2.885739803314209 +[2026-10-09 17:42:45.469] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.469] [path_visualizer] [debug] current_cmd_angular_z:0.5722508299498495 +[2026-10-09 17:42:45.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.519] [path_visualizer] [debug] current_pose_x:4.730326220734344, current_pose_y:2.0661899308807534,current_pose_yaw:2.885739803314209 +[2026-10-09 17:42:45.519] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.520] [path_visualizer] [debug] current_cmd_angular_z:0.5722508299498495 +[2026-10-09 17:42:45.578] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.578] [path_visualizer] [debug] current_pose_x:4.675460006884919, current_pose_y:2.0563134968545125,current_pose_yaw:2.906158447265625 +[2026-10-09 17:42:45.578] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.578] [path_visualizer] [debug] current_cmd_angular_z:0.5187602466357077 +[2026-10-09 17:42:45.619] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.619] [path_visualizer] [debug] current_pose_x:4.675460006884919, current_pose_y:2.0563134968545125,current_pose_yaw:2.906158447265625 +[2026-10-09 17:42:45.619] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.619] [path_visualizer] [debug] current_cmd_angular_z:0.5187602466357077 +[2026-10-09 17:42:45.675] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.675] [path_visualizer] [debug] current_pose_x:4.675460006884919, current_pose_y:2.0563134968545125,current_pose_yaw:2.906158447265625 +[2026-10-09 17:42:45.675] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.675] [path_visualizer] [debug] current_cmd_angular_z:0.5187602466357077 +[2026-10-09 17:42:45.721] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.721] [path_visualizer] [debug] current_pose_x:4.621137055331906, current_pose_y:2.046948519835319,current_pose_yaw:2.924940824508667 +[2026-10-09 17:42:45.721] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.721] [path_visualizer] [debug] current_cmd_angular_z:0.46900081250012193 +[2026-10-09 17:42:45.776] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.776] [path_visualizer] [debug] current_pose_x:4.621137055331906, current_pose_y:2.046948519835319,current_pose_yaw:2.924940824508667 +[2026-10-09 17:42:45.776] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.776] [path_visualizer] [debug] current_cmd_angular_z:0.46900081250012193 +[2026-10-09 17:42:45.824] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.824] [path_visualizer] [debug] current_pose_x:4.621137055331906, current_pose_y:2.046948519835319,current_pose_yaw:2.924940824508667 +[2026-10-09 17:42:45.824] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.824] [path_visualizer] [debug] current_cmd_angular_z:0.46900081250012193 +[2026-10-09 17:42:45.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.871] [path_visualizer] [debug] current_pose_x:4.56749053885016, current_pose_y:2.0382036291169836,current_pose_yaw:2.9420628547668457 +[2026-10-09 17:42:45.871] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.871] [path_visualizer] [debug] current_cmd_angular_z:0.4232279694345921 +[2026-10-09 17:42:45.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.925] [path_visualizer] [debug] current_pose_x:4.56749053885016, current_pose_y:2.0382036291169836,current_pose_yaw:2.9420628547668457 +[2026-10-09 17:42:45.925] [path_visualizer] [debug] current_path_x:4.638217891263594, current_path_y:1.9918460307093317,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.925] [path_visualizer] [debug] current_cmd_angular_z:0.4232279694345921 +[2026-10-09 17:42:45.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:45.973] [path_visualizer] [debug] current_pose_x:4.514450619747985, current_pose_y:2.0300773021401204,current_pose_yaw:2.957632541656494 +[2026-10-09 17:42:45.973] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:45.973] [path_visualizer] [debug] current_cmd_angular_z:0.38125945075966233 +[2026-10-09 17:42:46.027] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.027] [path_visualizer] [debug] current_pose_x:4.514450619747985, current_pose_y:2.0300773021401204,current_pose_yaw:2.957632541656494 +[2026-10-09 17:42:46.027] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.027] [path_visualizer] [debug] current_cmd_angular_z:0.38125945075966233 +[2026-10-09 17:42:46.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.073] [path_visualizer] [debug] current_pose_x:4.514450619747985, current_pose_y:2.0300773021401204,current_pose_yaw:2.957632541656494 +[2026-10-09 17:42:46.073] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.073] [path_visualizer] [debug] current_cmd_angular_z:0.38125945075966233 +[2026-10-09 17:42:46.120] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.120] [path_visualizer] [debug] current_pose_x:4.461837114457757, current_pose_y:2.022188604578061,current_pose_yaw:2.972132444381714 +[2026-10-09 17:42:46.120] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.120] [path_visualizer] [debug] current_cmd_angular_z:0.34153835242466113 +[2026-10-09 17:42:46.174] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.174] [path_visualizer] [debug] current_pose_x:4.461837114457757, current_pose_y:2.022188604578061,current_pose_yaw:2.972132444381714 +[2026-10-09 17:42:46.174] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.174] [path_visualizer] [debug] current_cmd_angular_z:0.34153835242466113 +[2026-10-09 17:42:46.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.223] [path_visualizer] [debug] current_pose_x:4.409646281773463, current_pose_y:2.0155337929602553,current_pose_yaw:2.9848577976226807 +[2026-10-09 17:42:46.223] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.223] [path_visualizer] [debug] current_cmd_angular_z:0.3072109000190645 +[2026-10-09 17:42:46.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.274] [path_visualizer] [debug] current_pose_x:4.409646281773463, current_pose_y:2.0155337929602553,current_pose_yaw:2.9848577976226807 +[2026-10-09 17:42:46.274] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.274] [path_visualizer] [debug] current_cmd_angular_z:0.3072109000190645 +[2026-10-09 17:42:46.324] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.324] [path_visualizer] [debug] current_pose_x:4.409646281773463, current_pose_y:2.0155337929602553,current_pose_yaw:2.9848577976226807 +[2026-10-09 17:42:46.324] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.324] [path_visualizer] [debug] current_cmd_angular_z:0.3072109000190645 +[2026-10-09 17:42:46.371] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.372] [path_visualizer] [debug] current_pose_x:4.3578249899956685, current_pose_y:2.009948933461835,current_pose_yaw:2.995997667312622 +[2026-10-09 17:42:46.372] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.372] [path_visualizer] [debug] current_cmd_angular_z:0.2776380315518046 +[2026-10-09 17:42:46.432] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.432] [path_visualizer] [debug] current_pose_x:4.3578249899956685, current_pose_y:2.009948933461835,current_pose_yaw:2.995997667312622 +[2026-10-09 17:42:46.432] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.432] [path_visualizer] [debug] current_cmd_angular_z:0.2776380315518046 +[2026-10-09 17:42:46.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.472] [path_visualizer] [debug] current_pose_x:4.3578249899956685, current_pose_y:2.009948933461835,current_pose_yaw:2.995997667312622 +[2026-10-09 17:42:46.472] [path_visualizer] [debug] current_path_x:4.442924506391384, current_path_y:1.991845994390408,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.472] [path_visualizer] [debug] current_cmd_angular_z:0.2776380315518046 +[2026-10-09 17:42:46.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.525] [path_visualizer] [debug] current_pose_x:4.306225896346817, current_pose_y:2.0046942116823403,current_pose_yaw:3.006300210952759 +[2026-10-09 17:42:46.525] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.525] [path_visualizer] [debug] current_cmd_angular_z:0.25011026258384245 +[2026-10-09 17:42:46.569] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.569] [path_visualizer] [debug] current_pose_x:4.306225896346817, current_pose_y:2.0046942116823403,current_pose_yaw:3.006300210952759 +[2026-10-09 17:42:46.569] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.569] [path_visualizer] [debug] current_cmd_angular_z:0.25011026258384245 +[2026-10-09 17:42:46.618] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.618] [path_visualizer] [debug] current_pose_x:4.2548411369803505, current_pose_y:1.9999577725749225,current_pose_yaw:3.0156381130218506 +[2026-10-09 17:42:46.618] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.618] [path_visualizer] [debug] current_cmd_angular_z:0.22521200870554736 +[2026-10-09 17:42:46.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.674] [path_visualizer] [debug] current_pose_x:4.2548411369803505, current_pose_y:1.9999577725749225,current_pose_yaw:3.0156381130218506 +[2026-10-09 17:42:46.674] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.674] [path_visualizer] [debug] current_cmd_angular_z:0.22521200870554736 +[2026-10-09 17:42:46.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.722] [path_visualizer] [debug] current_pose_x:4.2548411369803505, current_pose_y:1.9999577725749225,current_pose_yaw:3.0156381130218506 +[2026-10-09 17:42:46.722] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.722] [path_visualizer] [debug] current_cmd_angular_z:0.22521200870554736 +[2026-10-09 17:42:46.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.774] [path_visualizer] [debug] current_pose_x:4.203585774546531, current_pose_y:1.995522721078983,current_pose_yaw:3.0242841243743896 +[2026-10-09 17:42:46.774] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.774] [path_visualizer] [debug] current_cmd_angular_z:0.20206029130649078 +[2026-10-09 17:42:46.820] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.820] [path_visualizer] [debug] current_pose_x:4.203585774546531, current_pose_y:1.995522721078983,current_pose_yaw:3.0242841243743896 +[2026-10-09 17:42:46.820] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.820] [path_visualizer] [debug] current_cmd_angular_z:0.20206029130649078 +[2026-10-09 17:42:46.869] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.870] [path_visualizer] [debug] current_pose_x:4.1524830123956145, current_pose_y:1.9918611604240815,current_pose_yaw:3.0318634510040283 +[2026-10-09 17:42:46.870] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.870] [path_visualizer] [debug] current_cmd_angular_z:0.1822137773511792 +[2026-10-09 17:42:46.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.925] [path_visualizer] [debug] current_pose_x:4.1524830123956145, current_pose_y:1.9918611604240815,current_pose_yaw:3.0318634510040283 +[2026-10-09 17:42:46.925] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.925] [path_visualizer] [debug] current_cmd_angular_z:0.1822137773511792 +[2026-10-09 17:42:46.969] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:46.969] [path_visualizer] [debug] current_pose_x:4.1524830123956145, current_pose_y:1.9918611604240815,current_pose_yaw:3.0318634510040283 +[2026-10-09 17:42:46.969] [path_visualizer] [debug] current_path_x:4.247631121519174, current_path_y:1.9918459580714847,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:46.970] [path_visualizer] [debug] current_cmd_angular_z:0.1822137773511792 +[2026-10-09 17:42:47.026] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.026] [path_visualizer] [debug] current_pose_x:4.10150085667686, current_pose_y:1.9888823117102228,current_pose_yaw:3.0384984016418457 +[2026-10-09 17:42:47.026] [path_visualizer] [debug] current_path_x:4.052337736646965, current_path_y:1.9918459217525613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.026] [path_visualizer] [debug] current_cmd_angular_z:0.16528941337837358 +[2026-10-09 17:42:47.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.074] [path_visualizer] [debug] current_pose_x:4.10150085667686, current_pose_y:1.9888823117102228,current_pose_yaw:3.0384984016418457 +[2026-10-09 17:42:47.074] [path_visualizer] [debug] current_path_x:4.052337736646965, current_path_y:1.9918459217525613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.074] [path_visualizer] [debug] current_cmd_angular_z:0.16528941337837358 +[2026-10-09 17:42:47.121] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.121] [path_visualizer] [debug] current_pose_x:4.10150085667686, current_pose_y:1.9888823117102228,current_pose_yaw:3.0384984016418457 +[2026-10-09 17:42:47.121] [path_visualizer] [debug] current_path_x:4.052337736646965, current_path_y:1.9918459217525613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.121] [path_visualizer] [debug] current_cmd_angular_z:0.16528941337837358 +[2026-10-09 17:42:47.176] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.176] [path_visualizer] [debug] current_pose_x:4.050584594436046, current_pose_y:1.9861392576925703,current_pose_yaw:3.0446324348449707 +[2026-10-09 17:42:47.176] [path_visualizer] [debug] current_path_x:4.052337736646965, current_path_y:1.9918459217525613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.176] [path_visualizer] [debug] current_cmd_angular_z:0.14966434004807885 +[2026-10-09 17:42:47.220] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.220] [path_visualizer] [debug] current_pose_x:4.050584594436046, current_pose_y:1.9861392576925703,current_pose_yaw:3.0446324348449707 +[2026-10-09 17:42:47.220] [path_visualizer] [debug] current_path_x:4.052337736646965, current_path_y:1.9918459217525613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.220] [path_visualizer] [debug] current_cmd_angular_z:0.14966434004807885 +[2026-10-09 17:42:47.278] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.278] [path_visualizer] [debug] current_pose_x:3.999734509488931, current_pose_y:1.9837288368497132,current_pose_yaw:3.050199031829834 +[2026-10-09 17:42:47.278] [path_visualizer] [debug] current_path_x:4.052337736646965, current_path_y:1.9918459217525613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.278] [path_visualizer] [debug] current_cmd_angular_z:0.13564114531557533 +[2026-10-09 17:42:47.324] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.325] [path_visualizer] [debug] current_pose_x:3.999734509488931, current_pose_y:1.9837288368497132,current_pose_yaw:3.050199031829834 +[2026-10-09 17:42:47.325] [path_visualizer] [debug] current_path_x:4.052337736646965, current_path_y:1.9918459217525613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.325] [path_visualizer] [debug] current_cmd_angular_z:0.13564114531557533 +[2026-10-09 17:42:47.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.374] [path_visualizer] [debug] current_pose_x:3.999734509488931, current_pose_y:1.9837288368497132,current_pose_yaw:3.050199031829834 +[2026-10-09 17:42:47.374] [path_visualizer] [debug] current_path_x:4.052337736646965, current_path_y:1.9918459217525613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.374] [path_visualizer] [debug] current_cmd_angular_z:0.13564114531557533 +[2026-10-09 17:42:47.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.425] [path_visualizer] [debug] current_pose_x:3.9489290543901197, current_pose_y:1.9814786456396947,current_pose_yaw:3.0553741455078125 +[2026-10-09 17:42:47.425] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.425] [path_visualizer] [debug] current_cmd_angular_z:0.12258581133928588 +[2026-10-09 17:42:47.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.472] [path_visualizer] [debug] current_pose_x:3.9489290543901197, current_pose_y:1.9814786456396947,current_pose_yaw:3.0553741455078125 +[2026-10-09 17:42:47.472] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.472] [path_visualizer] [debug] current_cmd_angular_z:0.12258581133928588 +[2026-10-09 17:42:47.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.525] [path_visualizer] [debug] current_pose_x:3.8981798661027263, current_pose_y:1.979653924751612,current_pose_yaw:3.059946060180664 +[2026-10-09 17:42:47.525] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.525] [path_visualizer] [debug] current_cmd_angular_z:0.11137579945217284 +[2026-10-09 17:42:47.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.573] [path_visualizer] [debug] current_pose_x:3.8981798661027263, current_pose_y:1.979653924751612,current_pose_yaw:3.059946060180664 +[2026-10-09 17:42:47.573] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.573] [path_visualizer] [debug] current_cmd_angular_z:0.11137579945217284 +[2026-10-09 17:42:47.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.624] [path_visualizer] [debug] current_pose_x:3.8981798661027263, current_pose_y:1.979653924751612,current_pose_yaw:3.059946060180664 +[2026-10-09 17:42:47.624] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.624] [path_visualizer] [debug] current_cmd_angular_z:0.11137579945217284 +[2026-10-09 17:42:47.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.673] [path_visualizer] [debug] current_pose_x:3.847468807058867, current_pose_y:1.9780962987040493,current_pose_yaw:3.064079523086548 +[2026-10-09 17:42:47.673] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.673] [path_visualizer] [debug] current_cmd_angular_z:0.10142352064752584 +[2026-10-09 17:42:47.727] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.727] [path_visualizer] [debug] current_pose_x:3.847468807058867, current_pose_y:1.9780962987040493,current_pose_yaw:3.064079523086548 +[2026-10-09 17:42:47.727] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.727] [path_visualizer] [debug] current_cmd_angular_z:0.10142352064752584 +[2026-10-09 17:42:47.776] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.776] [path_visualizer] [debug] current_pose_x:3.847468807058867, current_pose_y:1.9780962987040493,current_pose_yaw:3.064079523086548 +[2026-10-09 17:42:47.776] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.776] [path_visualizer] [debug] current_cmd_angular_z:0.10142352064752584 +[2026-10-09 17:42:47.826] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.826] [path_visualizer] [debug] current_pose_x:3.796785815911073, current_pose_y:1.9767568576581147,current_pose_yaw:3.067837953567505 +[2026-10-09 17:42:47.826] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.826] [path_visualizer] [debug] current_cmd_angular_z:0.09252666917615629 +[2026-10-09 17:42:47.875] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.875] [path_visualizer] [debug] current_pose_x:3.796785815911073, current_pose_y:1.9767568576581147,current_pose_yaw:3.067837953567505 +[2026-10-09 17:42:47.875] [path_visualizer] [debug] current_path_x:3.8570443517747552, current_path_y:1.9918458854336376,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.875] [path_visualizer] [debug] current_cmd_angular_z:0.09252666917615629 +[2026-10-09 17:42:47.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.925] [path_visualizer] [debug] current_pose_x:3.746129708794534, current_pose_y:1.9756067793063052,current_pose_yaw:3.071263074874878 +[2026-10-09 17:42:47.925] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.925] [path_visualizer] [debug] current_cmd_angular_z:0.0845588759539008 +[2026-10-09 17:42:47.972] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:47.972] [path_visualizer] [debug] current_pose_x:3.746129708794534, current_pose_y:1.9756067793063052,current_pose_yaw:3.071263074874878 +[2026-10-09 17:42:47.972] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:47.972] [path_visualizer] [debug] current_cmd_angular_z:0.0845588759539008 +[2026-10-09 17:42:48.023] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.023] [path_visualizer] [debug] current_pose_x:3.746129708794534, current_pose_y:1.9756067793063052,current_pose_yaw:3.071263074874878 +[2026-10-09 17:42:48.023] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.023] [path_visualizer] [debug] current_cmd_angular_z:0.0845588759539008 +[2026-10-09 17:42:48.068] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.069] [path_visualizer] [debug] current_pose_x:3.695488206209226, current_pose_y:1.9745377972395768,current_pose_yaw:3.0744638442993164 +[2026-10-09 17:42:48.069] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.069] [path_visualizer] [debug] current_cmd_angular_z:0.07712435361552923 +[2026-10-09 17:42:48.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.119] [path_visualizer] [debug] current_pose_x:3.695488206209226, current_pose_y:1.9745377972395768,current_pose_yaw:3.0744638442993164 +[2026-10-09 17:42:48.119] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.119] [path_visualizer] [debug] current_cmd_angular_z:0.07712435361552923 +[2026-10-09 17:42:48.168] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.168] [path_visualizer] [debug] current_pose_x:3.6448699470923893, current_pose_y:1.9736991166520497,current_pose_yaw:3.0773212909698486 +[2026-10-09 17:42:48.168] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.169] [path_visualizer] [debug] current_cmd_angular_z:0.07071664347041826 +[2026-10-09 17:42:48.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.223] [path_visualizer] [debug] current_pose_x:3.6448699470923893, current_pose_y:1.9736991166520497,current_pose_yaw:3.0773212909698486 +[2026-10-09 17:42:48.223] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.223] [path_visualizer] [debug] current_cmd_angular_z:0.07071664347041826 +[2026-10-09 17:42:48.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.274] [path_visualizer] [debug] current_pose_x:3.6448699470923893, current_pose_y:1.9736991166520497,current_pose_yaw:3.0773212909698486 +[2026-10-09 17:42:48.274] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.274] [path_visualizer] [debug] current_cmd_angular_z:0.07071664347041826 +[2026-10-09 17:42:48.318] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.318] [path_visualizer] [debug] current_pose_x:3.5942691005032006, current_pose_y:1.97305855905365,current_pose_yaw:3.0798771381378174 +[2026-10-09 17:42:48.318] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.318] [path_visualizer] [debug] current_cmd_angular_z:0.06520264771792596 +[2026-10-09 17:42:48.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.374] [path_visualizer] [debug] current_pose_x:3.5942691005032006, current_pose_y:1.97305855905365,current_pose_yaw:3.0798771381378174 +[2026-10-09 17:42:48.374] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.374] [path_visualizer] [debug] current_cmd_angular_z:0.06520264771792596 +[2026-10-09 17:42:48.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.425] [path_visualizer] [debug] current_pose_x:3.5942691005032006, current_pose_y:1.97305855905365,current_pose_yaw:3.0798771381378174 +[2026-10-09 17:42:48.425] [path_visualizer] [debug] current_path_x:3.6617509669025456, current_path_y:1.9918458491147142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.425] [path_visualizer] [debug] current_cmd_angular_z:0.06520264771792596 +[2026-10-09 17:42:48.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.473] [path_visualizer] [debug] current_pose_x:3.543676880008876, current_pose_y:1.9724760395027645,current_pose_yaw:3.0822699069976807 +[2026-10-09 17:42:48.473] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.473] [path_visualizer] [debug] current_cmd_angular_z:0.06007459897604673 +[2026-10-09 17:42:48.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.519] [path_visualizer] [debug] current_pose_x:3.543676880008876, current_pose_y:1.9724760395027645,current_pose_yaw:3.0822699069976807 +[2026-10-09 17:42:48.519] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.519] [path_visualizer] [debug] current_cmd_angular_z:0.06007459897604673 +[2026-10-09 17:42:48.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.573] [path_visualizer] [debug] current_pose_x:3.493094056694008, current_pose_y:1.9719807880925995,current_pose_yaw:3.084480047225952 +[2026-10-09 17:42:48.573] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.573] [path_visualizer] [debug] current_cmd_angular_z:0.05542278951736402 +[2026-10-09 17:42:48.618] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.619] [path_visualizer] [debug] current_pose_x:3.493094056694008, current_pose_y:1.9719807880925995,current_pose_yaw:3.084480047225952 +[2026-10-09 17:42:48.619] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.619] [path_visualizer] [debug] current_cmd_angular_z:0.05542278951736402 +[2026-10-09 17:42:48.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.674] [path_visualizer] [debug] current_pose_x:3.493094056694008, current_pose_y:1.9719807880925995,current_pose_yaw:3.084480047225952 +[2026-10-09 17:42:48.674] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.674] [path_visualizer] [debug] current_cmd_angular_z:0.05542278951736402 +[2026-10-09 17:42:48.724] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.724] [path_visualizer] [debug] current_pose_x:3.442517505562659, current_pose_y:1.971519586967941,current_pose_yaw:3.086561918258667 +[2026-10-09 17:42:48.724] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.724] [path_visualizer] [debug] current_cmd_angular_z:0.051051482893349015 +[2026-10-09 17:42:48.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.774] [path_visualizer] [debug] current_pose_x:3.442517505562659, current_pose_y:1.971519586967941,current_pose_yaw:3.086561918258667 +[2026-10-09 17:42:48.774] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.774] [path_visualizer] [debug] current_cmd_angular_z:0.051051482893349015 +[2026-10-09 17:42:48.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.825] [path_visualizer] [debug] current_pose_x:3.3919499558073447, current_pose_y:1.9711806149173232,current_pose_yaw:3.088444709777832 +[2026-10-09 17:42:48.825] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.825] [path_visualizer] [debug] current_cmd_angular_z:0.047253144315821505 +[2026-10-09 17:42:48.869] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.869] [path_visualizer] [debug] current_pose_x:3.3919499558073447, current_pose_y:1.9711806149173232,current_pose_yaw:3.088444709777832 +[2026-10-09 17:42:48.870] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.870] [path_visualizer] [debug] current_cmd_angular_z:0.047253144315821505 +[2026-10-09 17:42:48.918] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.918] [path_visualizer] [debug] current_pose_x:3.3919499558073447, current_pose_y:1.9711806149173232,current_pose_yaw:3.088444709777832 +[2026-10-09 17:42:48.918] [path_visualizer] [debug] current_path_x:3.466457582030336, current_path_y:1.9918458127957905,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.918] [path_visualizer] [debug] current_cmd_angular_z:0.047253144315821505 +[2026-10-09 17:42:48.971] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:48.971] [path_visualizer] [debug] current_pose_x:3.3413869870556323, current_pose_y:1.9708728304909664,current_pose_yaw:3.0902163982391357 +[2026-10-09 17:42:48.971] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:48.971] [path_visualizer] [debug] current_cmd_angular_z:0.04370120151601197 +[2026-10-09 17:42:49.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.025] [path_visualizer] [debug] current_pose_x:3.3413869870556323, current_pose_y:1.9708728304909664,current_pose_yaw:3.0902163982391357 +[2026-10-09 17:42:49.025] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.025] [path_visualizer] [debug] current_cmd_angular_z:0.04370120151601197 +[2026-10-09 17:42:49.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.071] [path_visualizer] [debug] current_pose_x:3.2908304405334357, current_pose_y:1.9706616836359423,current_pose_yaw:3.091825485229492 +[2026-10-09 17:42:49.071] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.072] [path_visualizer] [debug] current_cmd_angular_z:0.040610830710565635 +[2026-10-09 17:42:49.124] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.124] [path_visualizer] [debug] current_pose_x:3.2908304405334357, current_pose_y:1.9706616836359423,current_pose_yaw:3.091825485229492 +[2026-10-09 17:42:49.124] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.124] [path_visualizer] [debug] current_cmd_angular_z:0.040610830710565635 +[2026-10-09 17:42:49.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.171] [path_visualizer] [debug] current_pose_x:3.2908304405334357, current_pose_y:1.9706616836359423,current_pose_yaw:3.091825485229492 +[2026-10-09 17:42:49.171] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.171] [path_visualizer] [debug] current_cmd_angular_z:0.040610830710565635 +[2026-10-09 17:42:49.224] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.224] [path_visualizer] [debug] current_pose_x:3.2402792690919116, current_pose_y:1.9705367818633954,current_pose_yaw:3.0932867527008057 +[2026-10-09 17:42:49.224] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.224] [path_visualizer] [debug] current_cmd_angular_z:0.037936948233995876 +[2026-10-09 17:42:49.270] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.270] [path_visualizer] [debug] current_pose_x:3.2402792690919116, current_pose_y:1.9705367818633954,current_pose_yaw:3.0932867527008057 +[2026-10-09 17:42:49.270] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.270] [path_visualizer] [debug] current_cmd_angular_z:0.037936948233995876 +[2026-10-09 17:42:49.323] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.323] [path_visualizer] [debug] current_pose_x:3.2402792690919116, current_pose_y:1.9705367818633954,current_pose_yaw:3.0932867527008057 +[2026-10-09 17:42:49.323] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.324] [path_visualizer] [debug] current_cmd_angular_z:0.037936948233995876 +[2026-10-09 17:42:49.368] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.368] [path_visualizer] [debug] current_pose_x:3.189730364952103, current_pose_y:1.9704267003942548,current_pose_yaw:3.0946712493896484 +[2026-10-09 17:42:49.368] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.368] [path_visualizer] [debug] current_cmd_angular_z:0.03541992385801261 +[2026-10-09 17:42:49.429] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.429] [path_visualizer] [debug] current_pose_x:3.189730364952103, current_pose_y:1.9704267003942548,current_pose_yaw:3.0946712493896484 +[2026-10-09 17:42:49.429] [path_visualizer] [debug] current_path_x:3.2711641971581265, current_path_y:1.9918457764768671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.429] [path_visualizer] [debug] current_cmd_angular_z:0.03541992385801261 +[2026-10-09 17:42:49.471] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.471] [path_visualizer] [debug] current_pose_x:3.1391842558444347, current_pose_y:1.9703464003923021,current_pose_yaw:3.09596848487854 +[2026-10-09 17:42:49.472] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.472] [path_visualizer] [debug] current_cmd_angular_z:0.033106921523617834 +[2026-10-09 17:42:49.527] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.527] [path_visualizer] [debug] current_pose_x:3.1391842558444347, current_pose_y:1.9703464003923021,current_pose_yaw:3.09596848487854 +[2026-10-09 17:42:49.527] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.527] [path_visualizer] [debug] current_cmd_angular_z:0.033106921523617834 +[2026-10-09 17:42:49.575] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.575] [path_visualizer] [debug] current_pose_x:3.1391842558444347, current_pose_y:1.9703464003923021,current_pose_yaw:3.09596848487854 +[2026-10-09 17:42:49.576] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.576] [path_visualizer] [debug] current_cmd_angular_z:0.033106921523617834 +[2026-10-09 17:42:49.620] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.620] [path_visualizer] [debug] current_pose_x:3.088635977976332, current_pose_y:1.9702745254358,current_pose_yaw:3.0972020626068115 +[2026-10-09 17:42:49.620] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.620] [path_visualizer] [debug] current_cmd_angular_z:0.030916249125407448 +[2026-10-09 17:42:49.675] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.675] [path_visualizer] [debug] current_pose_x:3.088635977976332, current_pose_y:1.9702745254358,current_pose_yaw:3.0972020626068115 +[2026-10-09 17:42:49.675] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.675] [path_visualizer] [debug] current_cmd_angular_z:0.030916249125407448 +[2026-10-09 17:42:49.726] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.726] [path_visualizer] [debug] current_pose_x:3.038078276510832, current_pose_y:1.9702595329501953,current_pose_yaw:3.098339319229126 +[2026-10-09 17:42:49.726] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.726] [path_visualizer] [debug] current_cmd_angular_z:0.028998322703433728 +[2026-10-09 17:42:49.776] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.776] [path_visualizer] [debug] current_pose_x:3.038078276510832, current_pose_y:1.9702595329501953,current_pose_yaw:3.098339319229126 +[2026-10-09 17:42:49.776] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.776] [path_visualizer] [debug] current_cmd_angular_z:0.028998322703433728 +[2026-10-09 17:42:49.822] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.822] [path_visualizer] [debug] current_pose_x:3.038078276510832, current_pose_y:1.9702595329501953,current_pose_yaw:3.098339319229126 +[2026-10-09 17:42:49.822] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.822] [path_visualizer] [debug] current_cmd_angular_z:0.028998322703433728 +[2026-10-09 17:42:49.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.874] [path_visualizer] [debug] current_pose_x:2.9875217552182844, current_pose_y:1.9702695915545538,current_pose_yaw:3.0994045734405518 +[2026-10-09 17:42:49.874] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.874] [path_visualizer] [debug] current_cmd_angular_z:0.02724962975353829 +[2026-10-09 17:42:49.920] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.920] [path_visualizer] [debug] current_pose_x:2.9875217552182844, current_pose_y:1.9702695915545538,current_pose_yaw:3.0994045734405518 +[2026-10-09 17:42:49.920] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.920] [path_visualizer] [debug] current_cmd_angular_z:0.02724962975353829 +[2026-10-09 17:42:49.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:49.974] [path_visualizer] [debug] current_pose_x:2.9875217552182844, current_pose_y:1.9702695915545538,current_pose_yaw:3.0994045734405518 +[2026-10-09 17:42:49.974] [path_visualizer] [debug] current_path_x:3.075870812285917, current_path_y:1.9918457401579435,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:49.974] [path_visualizer] [debug] current_cmd_angular_z:0.02724962975353829 +[2026-10-09 17:42:50.023] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.023] [path_visualizer] [debug] current_pose_x:2.9369677309983118, current_pose_y:1.9702993613710396,current_pose_yaw:3.100404977798462 +[2026-10-09 17:42:50.023] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.023] [path_visualizer] [debug] current_cmd_angular_z:0.0256477753384153 +[2026-10-09 17:42:50.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.073] [path_visualizer] [debug] current_pose_x:2.9369677309983118, current_pose_y:1.9702993613710396,current_pose_yaw:3.100404977798462 +[2026-10-09 17:42:50.073] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.073] [path_visualizer] [debug] current_cmd_angular_z:0.0256477753384153 +[2026-10-09 17:42:50.121] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.121] [path_visualizer] [debug] current_pose_x:2.886413427626495, current_pose_y:1.9703459589151948,current_pose_yaw:3.101346254348755 +[2026-10-09 17:42:50.121] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.121] [path_visualizer] [debug] current_cmd_angular_z:0.024177396114424557 +[2026-10-09 17:42:50.172] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.172] [path_visualizer] [debug] current_pose_x:2.886413427626495, current_pose_y:1.9703459589151948,current_pose_yaw:3.101346254348755 +[2026-10-09 17:42:50.172] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.172] [path_visualizer] [debug] current_cmd_angular_z:0.024177396114424557 +[2026-10-09 17:42:50.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.223] [path_visualizer] [debug] current_pose_x:2.886413427626495, current_pose_y:1.9703459589151948,current_pose_yaw:3.101346254348755 +[2026-10-09 17:42:50.223] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.223] [path_visualizer] [debug] current_cmd_angular_z:0.024177396114424557 +[2026-10-09 17:42:50.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.269] [path_visualizer] [debug] current_pose_x:2.8358618126048585, current_pose_y:1.970392112717478,current_pose_yaw:3.102245807647705 +[2026-10-09 17:42:50.269] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.269] [path_visualizer] [debug] current_cmd_angular_z:0.022775409949255428 +[2026-10-09 17:42:50.319] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.319] [path_visualizer] [debug] current_pose_x:2.8358618126048585, current_pose_y:1.970392112717478,current_pose_yaw:3.102245807647705 +[2026-10-09 17:42:50.319] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.319] [path_visualizer] [debug] current_cmd_angular_z:0.022775409949255428 +[2026-10-09 17:42:50.369] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.369] [path_visualizer] [debug] current_pose_x:2.785310255849094, current_pose_y:1.9704632647210587,current_pose_yaw:3.103084087371826 +[2026-10-09 17:42:50.369] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.369] [path_visualizer] [debug] current_cmd_angular_z:0.021524739245019527 +[2026-10-09 17:42:50.420] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.420] [path_visualizer] [debug] current_pose_x:2.785310255849094, current_pose_y:1.9704632647210587,current_pose_yaw:3.103084087371826 +[2026-10-09 17:42:50.420] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.420] [path_visualizer] [debug] current_cmd_angular_z:0.021524739245019527 +[2026-10-09 17:42:50.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.474] [path_visualizer] [debug] current_pose_x:2.785310255849094, current_pose_y:1.9704632647210587,current_pose_yaw:3.103084087371826 +[2026-10-09 17:42:50.474] [path_visualizer] [debug] current_path_x:2.8805774274137073, current_path_y:1.99184570383902,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.474] [path_visualizer] [debug] current_cmd_angular_z:0.021524739245019527 +[2026-10-09 17:42:50.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.525] [path_visualizer] [debug] current_pose_x:2.7347619308294675, current_pose_y:1.9705465213576905,current_pose_yaw:3.103874444961548 +[2026-10-09 17:42:50.525] [path_visualizer] [debug] current_path_x:2.685284042541498, current_path_y:1.9918456675200966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.525] [path_visualizer] [debug] current_cmd_angular_z:0.020377714638003093 +[2026-10-09 17:42:50.569] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.569] [path_visualizer] [debug] current_pose_x:2.7347619308294675, current_pose_y:1.9705465213576905,current_pose_yaw:3.103874444961548 +[2026-10-09 17:42:50.569] [path_visualizer] [debug] current_path_x:2.685284042541498, current_path_y:1.9918456675200966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.569] [path_visualizer] [debug] current_cmd_angular_z:0.020377714638003093 +[2026-10-09 17:42:50.620] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.620] [path_visualizer] [debug] current_pose_x:2.7347619308294675, current_pose_y:1.9705465213576905,current_pose_yaw:3.103874444961548 +[2026-10-09 17:42:50.620] [path_visualizer] [debug] current_path_x:2.685284042541498, current_path_y:1.9918456675200966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.620] [path_visualizer] [debug] current_cmd_angular_z:0.020377714638003093 +[2026-10-09 17:42:50.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.673] [path_visualizer] [debug] current_pose_x:2.684214569996879, current_pose_y:1.9706378353171168,current_pose_yaw:3.1046228408813477 +[2026-10-09 17:42:50.673] [path_visualizer] [debug] current_path_x:2.685284042541498, current_path_y:1.9918456675200966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.673] [path_visualizer] [debug] current_cmd_angular_z:0.01931626854114743 +[2026-10-09 17:42:50.720] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.721] [path_visualizer] [debug] current_pose_x:2.684214569996879, current_pose_y:1.9706378353171168,current_pose_yaw:3.1046228408813477 +[2026-10-09 17:42:50.721] [path_visualizer] [debug] current_path_x:2.685284042541498, current_path_y:1.9918456675200966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.721] [path_visualizer] [debug] current_cmd_angular_z:0.01931626854114743 +[2026-10-09 17:42:50.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.774] [path_visualizer] [debug] current_pose_x:2.6336680492256095, current_pose_y:1.9707349855941656,current_pose_yaw:3.105333089828491 +[2026-10-09 17:42:50.774] [path_visualizer] [debug] current_path_x:2.685284042541498, current_path_y:1.9918456675200966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.774] [path_visualizer] [debug] current_cmd_angular_z:0.01832973401803035 +[2026-10-09 17:42:50.826] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.826] [path_visualizer] [debug] current_pose_x:2.6336680492256095, current_pose_y:1.9707349855941656,current_pose_yaw:3.105333089828491 +[2026-10-09 17:42:50.826] [path_visualizer] [debug] current_path_x:2.685284042541498, current_path_y:1.9918456675200966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.826] [path_visualizer] [debug] current_cmd_angular_z:0.01832973401803035 +[2026-10-09 17:42:50.872] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.872] [path_visualizer] [debug] current_pose_x:2.6336680492256095, current_pose_y:1.9707349855941656,current_pose_yaw:3.105333089828491 +[2026-10-09 17:42:50.872] [path_visualizer] [debug] current_path_x:2.685284042541498, current_path_y:1.9918456675200966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.872] [path_visualizer] [debug] current_cmd_angular_z:0.01832973401803035 +[2026-10-09 17:42:50.920] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.920] [path_visualizer] [debug] current_pose_x:2.5831220623528344, current_pose_y:1.9708256494854024,current_pose_yaw:3.1060173511505127 +[2026-10-09 17:42:50.920] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.920] [path_visualizer] [debug] current_cmd_angular_z:0.01737355322414566 +[2026-10-09 17:42:50.969] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:50.969] [path_visualizer] [debug] current_pose_x:2.5831220623528344, current_pose_y:1.9708256494854024,current_pose_yaw:3.1060173511505127 +[2026-10-09 17:42:50.969] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:50.969] [path_visualizer] [debug] current_cmd_angular_z:0.01737355322414566 +[2026-10-09 17:42:51.023] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.023] [path_visualizer] [debug] current_pose_x:2.5325770629730173, current_pose_y:1.9709309211617903,current_pose_yaw:3.106658697128296 +[2026-10-09 17:42:51.023] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.023] [path_visualizer] [debug] current_cmd_angular_z:0.016517526877748705 +[2026-10-09 17:42:51.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.071] [path_visualizer] [debug] current_pose_x:2.5325770629730173, current_pose_y:1.9709309211617903,current_pose_yaw:3.106658697128296 +[2026-10-09 17:42:51.071] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.071] [path_visualizer] [debug] current_cmd_angular_z:0.016517526877748705 +[2026-10-09 17:42:51.124] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.124] [path_visualizer] [debug] current_pose_x:2.5325770629730173, current_pose_y:1.9709309211617903,current_pose_yaw:3.106658697128296 +[2026-10-09 17:42:51.124] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.124] [path_visualizer] [debug] current_cmd_angular_z:0.016517526877748705 +[2026-10-09 17:42:51.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.171] [path_visualizer] [debug] current_pose_x:2.4820306133168843, current_pose_y:1.9710409411992407,current_pose_yaw:3.1072678565979004 +[2026-10-09 17:42:51.171] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.171] [path_visualizer] [debug] current_cmd_angular_z:0.015724358020212006 +[2026-10-09 17:42:51.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.223] [path_visualizer] [debug] current_pose_x:2.4820306133168843, current_pose_y:1.9710409411992407,current_pose_yaw:3.1072678565979004 +[2026-10-09 17:42:51.223] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.223] [path_visualizer] [debug] current_cmd_angular_z:0.015724358020212006 +[2026-10-09 17:42:51.275] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.275] [path_visualizer] [debug] current_pose_x:2.431486847196635, current_pose_y:1.9711529518551034,current_pose_yaw:3.1078479290008545 +[2026-10-09 17:42:51.275] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.275] [path_visualizer] [debug] current_cmd_angular_z:0.014983430782785787 +[2026-10-09 17:42:51.322] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.322] [path_visualizer] [debug] current_pose_x:2.431486847196635, current_pose_y:1.9711529518551034,current_pose_yaw:3.1078479290008545 +[2026-10-09 17:42:51.322] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.322] [path_visualizer] [debug] current_cmd_angular_z:0.014983430782785787 +[2026-10-09 17:42:51.368] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.369] [path_visualizer] [debug] current_pose_x:2.431486847196635, current_pose_y:1.9711529518551034,current_pose_yaw:3.1078479290008545 +[2026-10-09 17:42:51.369] [path_visualizer] [debug] current_path_x:2.489990657669288, current_path_y:1.991845631201173,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.369] [path_visualizer] [debug] current_cmd_angular_z:0.014983430782785787 +[2026-10-09 17:42:51.424] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.424] [path_visualizer] [debug] current_pose_x:2.380938630232337, current_pose_y:1.9712700258091576,current_pose_yaw:3.1083948612213135 +[2026-10-09 17:42:51.424] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.424] [path_visualizer] [debug] current_cmd_angular_z:0.014307640963488855 +[2026-10-09 17:42:51.469] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.469] [path_visualizer] [debug] current_pose_x:2.380938630232337, current_pose_y:1.9712700258091576,current_pose_yaw:3.1083948612213135 +[2026-10-09 17:42:51.469] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.469] [path_visualizer] [debug] current_cmd_angular_z:0.014307640963488855 +[2026-10-09 17:42:51.522] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.522] [path_visualizer] [debug] current_pose_x:2.380938630232337, current_pose_y:1.9712700258091576,current_pose_yaw:3.1083948612213135 +[2026-10-09 17:42:51.522] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.522] [path_visualizer] [debug] current_cmd_angular_z:0.014307640963488855 +[2026-10-09 17:42:51.572] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.572] [path_visualizer] [debug] current_pose_x:2.330381786474173, current_pose_y:1.971367083124365,current_pose_yaw:3.1089212894439697 +[2026-10-09 17:42:51.572] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.572] [path_visualizer] [debug] current_cmd_angular_z:0.01362611998612015 +[2026-10-09 17:42:51.622] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.622] [path_visualizer] [debug] current_pose_x:2.330381786474173, current_pose_y:1.971367083124365,current_pose_yaw:3.1089212894439697 +[2026-10-09 17:42:51.622] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.622] [path_visualizer] [debug] current_cmd_angular_z:0.01362611998612015 +[2026-10-09 17:42:51.672] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.672] [path_visualizer] [debug] current_pose_x:2.279832923331057, current_pose_y:1.9714597417641615,current_pose_yaw:3.109424114227295 +[2026-10-09 17:42:51.672] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.672] [path_visualizer] [debug] current_cmd_angular_z:0.012975063271728447 +[2026-10-09 17:42:51.726] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.726] [path_visualizer] [debug] current_pose_x:2.279832923331057, current_pose_y:1.9714597417641615,current_pose_yaw:3.109424114227295 +[2026-10-09 17:42:51.726] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.726] [path_visualizer] [debug] current_cmd_angular_z:0.012975063271728447 +[2026-10-09 17:42:51.770] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.770] [path_visualizer] [debug] current_pose_x:2.279832923331057, current_pose_y:1.9714597417641615,current_pose_yaw:3.109424114227295 +[2026-10-09 17:42:51.770] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.770] [path_visualizer] [debug] current_cmd_angular_z:0.012975063271728447 +[2026-10-09 17:42:51.823] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.823] [path_visualizer] [debug] current_pose_x:2.2292843873458152, current_pose_y:1.971553036385174,current_pose_yaw:3.1099045276641846 +[2026-10-09 17:42:51.823] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.823] [path_visualizer] [debug] current_cmd_angular_z:0.012362477602834189 +[2026-10-09 17:42:51.873] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.873] [path_visualizer] [debug] current_pose_x:2.2292843873458152, current_pose_y:1.971553036385174,current_pose_yaw:3.1099045276641846 +[2026-10-09 17:42:51.873] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.873] [path_visualizer] [debug] current_cmd_angular_z:0.012362477602834189 +[2026-10-09 17:42:51.920] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.920] [path_visualizer] [debug] current_pose_x:2.2292843873458152, current_pose_y:1.971553036385174,current_pose_yaw:3.1099045276641846 +[2026-10-09 17:42:51.920] [path_visualizer] [debug] current_path_x:2.2946972727970785, current_path_y:1.9918455948822495,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.920] [path_visualizer] [debug] current_cmd_angular_z:0.012362477602834189 +[2026-10-09 17:42:51.969] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:51.969] [path_visualizer] [debug] current_pose_x:2.178738495810828, current_pose_y:1.9716456901060966,current_pose_yaw:3.1103641986846924 +[2026-10-09 17:42:51.969] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:51.969] [path_visualizer] [debug] current_cmd_angular_z:0.01178313129235238 +[2026-10-09 17:42:52.019] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.019] [path_visualizer] [debug] current_pose_x:2.178738495810828, current_pose_y:1.9716456901060966,current_pose_yaw:3.1103641986846924 +[2026-10-09 17:42:52.019] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.019] [path_visualizer] [debug] current_cmd_angular_z:0.01178313129235238 +[2026-10-09 17:42:52.070] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.070] [path_visualizer] [debug] current_pose_x:2.1281932867637563, current_pose_y:1.9717408367907467,current_pose_yaw:3.1108016967773438 +[2026-10-09 17:42:52.070] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.070] [path_visualizer] [debug] current_cmd_angular_z:0.011245471544409552 +[2026-10-09 17:42:52.121] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.121] [path_visualizer] [debug] current_pose_x:2.1281932867637563, current_pose_y:1.9717408367907467,current_pose_yaw:3.1108016967773438 +[2026-10-09 17:42:52.121] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.121] [path_visualizer] [debug] current_cmd_angular_z:0.011245471544409552 +[2026-10-09 17:42:52.174] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.174] [path_visualizer] [debug] current_pose_x:2.1281932867637563, current_pose_y:1.9717408367907467,current_pose_yaw:3.1108016967773438 +[2026-10-09 17:42:52.174] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.174] [path_visualizer] [debug] current_cmd_angular_z:0.011245471544409552 +[2026-10-09 17:42:52.222] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.222] [path_visualizer] [debug] current_pose_x:2.0776615960918368, current_pose_y:1.9718439798417131,current_pose_yaw:3.1112232208251953 +[2026-10-09 17:42:52.222] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.222] [path_visualizer] [debug] current_cmd_angular_z:0.010750193972158588 +[2026-10-09 17:42:52.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.274] [path_visualizer] [debug] current_pose_x:2.0776615960918368, current_pose_y:1.9718439798417131,current_pose_yaw:3.1112232208251953 +[2026-10-09 17:42:52.274] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.274] [path_visualizer] [debug] current_cmd_angular_z:0.010750193972158588 +[2026-10-09 17:42:52.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.325] [path_visualizer] [debug] current_pose_x:2.0271313390026275, current_pose_y:1.9719547699722666,current_pose_yaw:3.1116223335266113 +[2026-10-09 17:42:52.325] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.325] [path_visualizer] [debug] current_cmd_angular_z:0.010307293646265606 +[2026-10-09 17:42:52.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.374] [path_visualizer] [debug] current_pose_x:2.0271313390026275, current_pose_y:1.9719547699722666,current_pose_yaw:3.1116223335266113 +[2026-10-09 17:42:52.374] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.374] [path_visualizer] [debug] current_cmd_angular_z:0.010307293646265606 +[2026-10-09 17:42:52.418] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.418] [path_visualizer] [debug] current_pose_x:2.0271313390026275, current_pose_y:1.9719547699722666,current_pose_yaw:3.1116223335266113 +[2026-10-09 17:42:52.418] [path_visualizer] [debug] current_path_x:2.0994038879248693, current_path_y:1.991845558563326,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.418] [path_visualizer] [debug] current_cmd_angular_z:0.010307293646265606 +[2026-10-09 17:42:52.469] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.469] [path_visualizer] [debug] current_pose_x:1.9766026811821535, current_pose_y:1.9720642885390438,current_pose_yaw:3.112004518508911 +[2026-10-09 17:42:52.469] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.469] [path_visualizer] [debug] current_cmd_angular_z:0.009890048235688523 +[2026-10-09 17:42:52.526] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.526] [path_visualizer] [debug] current_pose_x:1.9766026811821535, current_pose_y:1.9720642885390438,current_pose_yaw:3.112004518508911 +[2026-10-09 17:42:52.526] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.526] [path_visualizer] [debug] current_cmd_angular_z:0.009890048235688523 +[2026-10-09 17:42:52.569] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.569] [path_visualizer] [debug] current_pose_x:1.9766026811821535, current_pose_y:1.9720642885390438,current_pose_yaw:3.112004518508911 +[2026-10-09 17:42:52.569] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.569] [path_visualizer] [debug] current_cmd_angular_z:0.009890048235688523 +[2026-10-09 17:42:52.621] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.621] [path_visualizer] [debug] current_pose_x:1.9260743697521054, current_pose_y:1.9721729916831483,current_pose_yaw:3.112372636795044 +[2026-10-09 17:42:52.621] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.621] [path_visualizer] [debug] current_cmd_angular_z:0.00949446855746601 +[2026-10-09 17:42:52.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.673] [path_visualizer] [debug] current_pose_x:1.9260743697521054, current_pose_y:1.9721729916831483,current_pose_yaw:3.112372636795044 +[2026-10-09 17:42:52.673] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.673] [path_visualizer] [debug] current_cmd_angular_z:0.00949446855746601 +[2026-10-09 17:42:52.719] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.719] [path_visualizer] [debug] current_pose_x:1.8755483645199695, current_pose_y:1.972283856187111,current_pose_yaw:3.112734794616699 +[2026-10-09 17:42:52.719] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.719] [path_visualizer] [debug] current_cmd_angular_z:0.00911307201168051 +[2026-10-09 17:42:52.771] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.771] [path_visualizer] [debug] current_pose_x:1.8755483645199695, current_pose_y:1.972283856187111,current_pose_yaw:3.112734794616699 +[2026-10-09 17:42:52.771] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.771] [path_visualizer] [debug] current_cmd_angular_z:0.00911307201168051 +[2026-10-09 17:42:52.822] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.822] [path_visualizer] [debug] current_pose_x:1.8755483645199695, current_pose_y:1.972283856187111,current_pose_yaw:3.112734794616699 +[2026-10-09 17:42:52.822] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.822] [path_visualizer] [debug] current_cmd_angular_z:0.00911307201168051 +[2026-10-09 17:42:52.873] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.873] [path_visualizer] [debug] current_pose_x:1.8250226166641312, current_pose_y:1.9723913802983595,current_pose_yaw:3.1130871772766113 +[2026-10-09 17:42:52.873] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.873] [path_visualizer] [debug] current_cmd_angular_z:0.008741279667342151 +[2026-10-09 17:42:52.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.925] [path_visualizer] [debug] current_pose_x:1.8250226166641312, current_pose_y:1.9723913802983595,current_pose_yaw:3.1130871772766113 +[2026-10-09 17:42:52.925] [path_visualizer] [debug] current_path_x:1.9041105030526593, current_path_y:1.9918455222444025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.925] [path_visualizer] [debug] current_cmd_angular_z:0.008741279667342151 +[2026-10-09 17:42:52.976] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:52.976] [path_visualizer] [debug] current_pose_x:1.7744964868550304, current_pose_y:1.9724985370666173,current_pose_yaw:3.1134238243103027 +[2026-10-09 17:42:52.976] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:52.976] [path_visualizer] [debug] current_cmd_angular_z:0.008394956485598438 +[2026-10-09 17:42:53.021] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.021] [path_visualizer] [debug] current_pose_x:1.7744964868550304, current_pose_y:1.9724985370666173,current_pose_yaw:3.1134238243103027 +[2026-10-09 17:42:53.021] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.021] [path_visualizer] [debug] current_cmd_angular_z:0.008394956485598438 +[2026-10-09 17:42:53.070] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.070] [path_visualizer] [debug] current_pose_x:1.7744964868550304, current_pose_y:1.9724985370666173,current_pose_yaw:3.1134238243103027 +[2026-10-09 17:42:53.070] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.070] [path_visualizer] [debug] current_cmd_angular_z:0.008394956485598438 +[2026-10-09 17:42:53.118] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.118] [path_visualizer] [debug] current_pose_x:1.7239684087317786, current_pose_y:1.9726002272262653,current_pose_yaw:3.1137502193450928 +[2026-10-09 17:42:53.118] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.118] [path_visualizer] [debug] current_cmd_angular_z:0.008054740066580184 +[2026-10-09 17:42:53.173] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.173] [path_visualizer] [debug] current_pose_x:1.7239684087317786, current_pose_y:1.9726002272262653,current_pose_yaw:3.1137502193450928 +[2026-10-09 17:42:53.173] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.173] [path_visualizer] [debug] current_cmd_angular_z:0.008054740066580184 +[2026-10-09 17:42:53.219] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.219] [path_visualizer] [debug] current_pose_x:1.6734395416105958, current_pose_y:1.9727025821957094,current_pose_yaw:3.1140618324279785 +[2026-10-09 17:42:53.219] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.219] [path_visualizer] [debug] current_cmd_angular_z:0.007740384773645317 +[2026-10-09 17:42:53.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.269] [path_visualizer] [debug] current_pose_x:1.6734395416105958, current_pose_y:1.9727025821957094,current_pose_yaw:3.1140618324279785 +[2026-10-09 17:42:53.269] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.269] [path_visualizer] [debug] current_cmd_angular_z:0.007740384773645317 +[2026-10-09 17:42:53.318] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.318] [path_visualizer] [debug] current_pose_x:1.6734395416105958, current_pose_y:1.9727025821957094,current_pose_yaw:3.1140618324279785 +[2026-10-09 17:42:53.318] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.318] [path_visualizer] [debug] current_cmd_angular_z:0.007740384773645317 +[2026-10-09 17:42:53.372] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.372] [path_visualizer] [debug] current_pose_x:1.6229109646326685, current_pose_y:1.9728051853127875,current_pose_yaw:3.114359140396118 +[2026-10-09 17:42:53.372] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.372] [path_visualizer] [debug] current_cmd_angular_z:0.007450272482255167 +[2026-10-09 17:42:53.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.425] [path_visualizer] [debug] current_pose_x:1.6229109646326685, current_pose_y:1.9728051853127875,current_pose_yaw:3.114359140396118 +[2026-10-09 17:42:53.425] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.425] [path_visualizer] [debug] current_cmd_angular_z:0.007450272482255167 +[2026-10-09 17:42:53.469] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.469] [path_visualizer] [debug] current_pose_x:1.6229109646326685, current_pose_y:1.9728051853127875,current_pose_yaw:3.114359140396118 +[2026-10-09 17:42:53.469] [path_visualizer] [debug] current_path_x:1.7088171181804501, current_path_y:1.9918454859254788,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.469] [path_visualizer] [debug] current_cmd_angular_z:0.007450272482255167 +[2026-10-09 17:42:53.527] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.527] [path_visualizer] [debug] current_pose_x:1.5723836687961072, current_pose_y:1.972901304244327,current_pose_yaw:3.1146490573883057 +[2026-10-09 17:42:53.527] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.527] [path_visualizer] [debug] current_cmd_angular_z:0.007159642228923471 +[2026-10-09 17:42:53.569] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.569] [path_visualizer] [debug] current_pose_x:1.5723836687961072, current_pose_y:1.972901304244327,current_pose_yaw:3.1146490573883057 +[2026-10-09 17:42:53.569] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.569] [path_visualizer] [debug] current_cmd_angular_z:0.007159642228923471 +[2026-10-09 17:42:53.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.624] [path_visualizer] [debug] current_pose_x:1.5218561391513035, current_pose_y:1.9729961128363995,current_pose_yaw:3.1149275302886963 +[2026-10-09 17:42:53.624] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.624] [path_visualizer] [debug] current_cmd_angular_z:0.006885341747069285 +[2026-10-09 17:42:53.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.674] [path_visualizer] [debug] current_pose_x:1.5218561391513035, current_pose_y:1.9729961128363995,current_pose_yaw:3.1149275302886963 +[2026-10-09 17:42:53.674] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.674] [path_visualizer] [debug] current_cmd_angular_z:0.006885341747069285 +[2026-10-09 17:42:53.718] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.718] [path_visualizer] [debug] current_pose_x:1.5218561391513035, current_pose_y:1.9729961128363995,current_pose_yaw:3.1149275302886963 +[2026-10-09 17:42:53.718] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.718] [path_visualizer] [debug] current_cmd_angular_z:0.006885341747069285 +[2026-10-09 17:42:53.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.769] [path_visualizer] [debug] current_pose_x:1.4713267212119585, current_pose_y:1.9730853189896682,current_pose_yaw:3.1151983737945557 +[2026-10-09 17:42:53.769] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.769] [path_visualizer] [debug] current_cmd_angular_z:0.0066125961773853825 +[2026-10-09 17:42:53.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.825] [path_visualizer] [debug] current_pose_x:1.4713267212119585, current_pose_y:1.9730853189896682,current_pose_yaw:3.1151983737945557 +[2026-10-09 17:42:53.825] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.825] [path_visualizer] [debug] current_cmd_angular_z:0.0066125961773853825 +[2026-10-09 17:42:53.869] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.869] [path_visualizer] [debug] current_pose_x:1.4207986533263486, current_pose_y:1.973174767508576,current_pose_yaw:3.115457057952881 +[2026-10-09 17:42:53.869] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.869] [path_visualizer] [debug] current_cmd_angular_z:0.006360519519149024 +[2026-10-09 17:42:53.927] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.927] [path_visualizer] [debug] current_pose_x:1.4207986533263486, current_pose_y:1.973174767508576,current_pose_yaw:3.115457057952881 +[2026-10-09 17:42:53.927] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.927] [path_visualizer] [debug] current_cmd_angular_z:0.006360519519149024 +[2026-10-09 17:42:53.972] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:53.972] [path_visualizer] [debug] current_pose_x:1.4207986533263486, current_pose_y:1.973174767508576,current_pose_yaw:3.115457057952881 +[2026-10-09 17:42:53.972] [path_visualizer] [debug] current_path_x:1.51352373330824, current_path_y:1.9918454496065554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:53.972] [path_visualizer] [debug] current_cmd_angular_z:0.006360519519149024 +[2026-10-09 17:42:54.019] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.019] [path_visualizer] [debug] current_pose_x:1.3702698447356028, current_pose_y:1.9732628380619588,current_pose_yaw:3.1157054901123047 +[2026-10-09 17:42:54.019] [path_visualizer] [debug] current_path_x:1.318230348436031, current_path_y:1.9918454132876318,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.019] [path_visualizer] [debug] current_cmd_angular_z:0.006122803020943583 +[2026-10-09 17:42:54.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.073] [path_visualizer] [debug] current_pose_x:1.3702698447356028, current_pose_y:1.9732628380619588,current_pose_yaw:3.1157054901123047 +[2026-10-09 17:42:54.073] [path_visualizer] [debug] current_path_x:1.318230348436031, current_path_y:1.9918454132876318,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.073] [path_visualizer] [debug] current_cmd_angular_z:0.006122803020943583 +[2026-10-09 17:42:54.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.119] [path_visualizer] [debug] current_pose_x:1.3702698447356028, current_pose_y:1.9732628380619588,current_pose_yaw:3.1157054901123047 +[2026-10-09 17:42:54.119] [path_visualizer] [debug] current_path_x:1.318230348436031, current_path_y:1.9918454132876318,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.119] [path_visualizer] [debug] current_cmd_angular_z:0.006122803020943583 +[2026-10-09 17:42:54.168] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.168] [path_visualizer] [debug] current_pose_x:1.319739116721443, current_pose_y:1.9733469269691266,current_pose_yaw:3.1159467697143555 +[2026-10-09 17:42:54.168] [path_visualizer] [debug] current_path_x:1.318230348436031, current_path_y:1.9918454132876318,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.169] [path_visualizer] [debug] current_cmd_angular_z:0.0058889926329116216 +[2026-10-09 17:42:54.219] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.219] [path_visualizer] [debug] current_pose_x:1.319739116721443, current_pose_y:1.9733469269691266,current_pose_yaw:3.1159467697143555 +[2026-10-09 17:42:54.219] [path_visualizer] [debug] current_path_x:1.318230348436031, current_path_y:1.9918454132876318,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.219] [path_visualizer] [debug] current_cmd_angular_z:0.0058889926329116216 +[2026-10-09 17:42:54.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.274] [path_visualizer] [debug] current_pose_x:1.2692081331975875, current_pose_y:1.9734278692435905,current_pose_yaw:3.116179943084717 +[2026-10-09 17:42:54.274] [path_visualizer] [debug] current_path_x:1.318230348436031, current_path_y:1.9918454132876318,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.274] [path_visualizer] [debug] current_cmd_angular_z:0.005662399832622851 +[2026-10-09 17:42:54.319] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.319] [path_visualizer] [debug] current_pose_x:1.2692081331975875, current_pose_y:1.9734278692435905,current_pose_yaw:3.116179943084717 +[2026-10-09 17:42:54.319] [path_visualizer] [debug] current_path_x:1.318230348436031, current_path_y:1.9918454132876318,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.319] [path_visualizer] [debug] current_cmd_angular_z:0.005662399832622851 +[2026-10-09 17:42:54.369] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.369] [path_visualizer] [debug] current_pose_x:1.2692081331975875, current_pose_y:1.9734278692435905,current_pose_yaw:3.116179943084717 +[2026-10-09 17:42:54.369] [path_visualizer] [debug] current_path_x:1.318230348436031, current_path_y:1.9918454132876318,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.369] [path_visualizer] [debug] current_cmd_angular_z:0.005662399832622851 +[2026-10-09 17:42:54.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.425] [path_visualizer] [debug] current_pose_x:1.2186790390808415, current_pose_y:1.9735082195608262,current_pose_yaw:3.116403102874756 +[2026-10-09 17:42:54.425] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.426] [path_visualizer] [debug] current_cmd_angular_z:0.005451330357893275 +[2026-10-09 17:42:54.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.472] [path_visualizer] [debug] current_pose_x:1.2186790390808415, current_pose_y:1.9735082195608262,current_pose_yaw:3.116403102874756 +[2026-10-09 17:42:54.472] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.472] [path_visualizer] [debug] current_cmd_angular_z:0.005451330357893275 +[2026-10-09 17:42:54.518] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.518] [path_visualizer] [debug] current_pose_x:1.1681608896060045, current_pose_y:1.9735516261103112,current_pose_yaw:3.11661434173584 +[2026-10-09 17:42:54.518] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.518] [path_visualizer] [debug] current_cmd_angular_z:0.005186705032925877 +[2026-10-09 17:42:54.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.574] [path_visualizer] [debug] current_pose_x:1.1681608896060045, current_pose_y:1.9735516261103112,current_pose_yaw:3.11661434173584 +[2026-10-09 17:42:54.574] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.574] [path_visualizer] [debug] current_cmd_angular_z:0.005186705032925877 +[2026-10-09 17:42:54.619] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.619] [path_visualizer] [debug] current_pose_x:1.1681608896060045, current_pose_y:1.9735516261103112,current_pose_yaw:3.11661434173584 +[2026-10-09 17:42:54.619] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.619] [path_visualizer] [debug] current_cmd_angular_z:0.005186705032925877 +[2026-10-09 17:42:54.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.673] [path_visualizer] [debug] current_pose_x:1.117636902343392, current_pose_y:1.9735857293926784,current_pose_yaw:3.1168160438537598 +[2026-10-09 17:42:54.673] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.673] [path_visualizer] [debug] current_cmd_angular_z:0.004919460967165334 +[2026-10-09 17:42:54.726] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.726] [path_visualizer] [debug] current_pose_x:1.117636902343392, current_pose_y:1.9735857293926784,current_pose_yaw:3.1168160438537598 +[2026-10-09 17:42:54.726] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.726] [path_visualizer] [debug] current_cmd_angular_z:0.004919460967165334 +[2026-10-09 17:42:54.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.774] [path_visualizer] [debug] current_pose_x:1.117636902343392, current_pose_y:1.9735857293926784,current_pose_yaw:3.1168160438537598 +[2026-10-09 17:42:54.774] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.774] [path_visualizer] [debug] current_cmd_angular_z:0.004919460967165334 +[2026-10-09 17:42:54.824] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.824] [path_visualizer] [debug] current_pose_x:1.06711447801486, current_pose_y:1.9736175230011237,current_pose_yaw:3.117011785507202 +[2026-10-09 17:42:54.824] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.824] [path_visualizer] [debug] current_cmd_angular_z:0.004657531937787514 +[2026-10-09 17:42:54.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.871] [path_visualizer] [debug] current_pose_x:1.06711447801486, current_pose_y:1.9736175230011237,current_pose_yaw:3.117011785507202 +[2026-10-09 17:42:54.871] [path_visualizer] [debug] current_path_x:1.1229369635638218, current_path_y:1.9918453769687083,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.871] [path_visualizer] [debug] current_cmd_angular_z:0.004657531937787514 +[2026-10-09 17:42:54.924] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.924] [path_visualizer] [debug] current_pose_x:1.0165919967222186, current_pose_y:1.9736473633989542,current_pose_yaw:3.1172006130218506 +[2026-10-09 17:42:54.924] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.924] [path_visualizer] [debug] current_cmd_angular_z:0.004403280239382482 +[2026-10-09 17:42:54.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:54.973] [path_visualizer] [debug] current_pose_x:1.0165919967222186, current_pose_y:1.9736473633989542,current_pose_yaw:3.1172006130218506 +[2026-10-09 17:42:54.973] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:54.973] [path_visualizer] [debug] current_cmd_angular_z:0.004403280239382482 +[2026-10-09 17:42:55.019] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.019] [path_visualizer] [debug] current_pose_x:1.0165919967222186, current_pose_y:1.9736473633989542,current_pose_yaw:3.1172006130218506 +[2026-10-09 17:42:55.019] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.019] [path_visualizer] [debug] current_cmd_angular_z:0.004403280239382482 +[2026-10-09 17:42:55.069] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.069] [path_visualizer] [debug] current_pose_x:0.9660678779347658, current_pose_y:1.9736748307798337,current_pose_yaw:3.1173834800720215 +[2026-10-09 17:42:55.069] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.069] [path_visualizer] [debug] current_cmd_angular_z:0.004154146061221928 +[2026-10-09 17:42:55.127] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.127] [path_visualizer] [debug] current_pose_x:0.9660678779347658, current_pose_y:1.9736748307798337,current_pose_yaw:3.1173834800720215 +[2026-10-09 17:42:55.127] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.127] [path_visualizer] [debug] current_cmd_angular_z:0.004154146061221928 +[2026-10-09 17:42:55.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.169] [path_visualizer] [debug] current_pose_x:0.9660678779347658, current_pose_y:1.9736748307798337,current_pose_yaw:3.1173834800720215 +[2026-10-09 17:42:55.169] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.169] [path_visualizer] [debug] current_cmd_angular_z:0.004154146061221928 +[2026-10-09 17:42:55.224] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.224] [path_visualizer] [debug] current_pose_x:0.915532504859155, current_pose_y:1.9737245535532923,current_pose_yaw:3.1175522804260254 +[2026-10-09 17:42:55.224] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.224] [path_visualizer] [debug] current_cmd_angular_z:0.0039725094263818525 +[2026-10-09 17:42:55.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.269] [path_visualizer] [debug] current_pose_x:0.915532504859155, current_pose_y:1.9737245535532923,current_pose_yaw:3.1175522804260254 +[2026-10-09 17:42:55.269] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.269] [path_visualizer] [debug] current_cmd_angular_z:0.0039725094263818525 +[2026-10-09 17:42:55.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.325] [path_visualizer] [debug] current_pose_x:0.8649849428814301, current_pose_y:1.9737925761720627,current_pose_yaw:3.117711067199707 +[2026-10-09 17:42:55.325] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.325] [path_visualizer] [debug] current_cmd_angular_z:0.0038437952866392927 +[2026-10-09 17:42:55.375] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.375] [path_visualizer] [debug] current_pose_x:0.8649849428814301, current_pose_y:1.9737925761720627,current_pose_yaw:3.117711067199707 +[2026-10-09 17:42:55.375] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.375] [path_visualizer] [debug] current_cmd_angular_z:0.0038437952866392927 +[2026-10-09 17:42:55.422] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.422] [path_visualizer] [debug] current_pose_x:0.8649849428814301, current_pose_y:1.9737925761720627,current_pose_yaw:3.117711067199707 +[2026-10-09 17:42:55.422] [path_visualizer] [debug] current_path_x:0.9276435786916117, current_path_y:1.991845340649785,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.422] [path_visualizer] [debug] current_cmd_angular_z:0.0038437952866392927 +[2026-10-09 17:42:55.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.474] [path_visualizer] [debug] current_pose_x:0.8144362485102318, current_pose_y:1.9738566967929756,current_pose_yaw:3.1178653240203857 +[2026-10-09 17:42:55.474] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.474] [path_visualizer] [debug] current_cmd_angular_z:0.003714934676677807 +[2026-10-09 17:42:55.526] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.526] [path_visualizer] [debug] current_pose_x:0.8144362485102318, current_pose_y:1.9738566967929756,current_pose_yaw:3.1178653240203857 +[2026-10-09 17:42:55.526] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.526] [path_visualizer] [debug] current_cmd_angular_z:0.003714934676677807 +[2026-10-09 17:42:55.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.574] [path_visualizer] [debug] current_pose_x:0.763889359391415, current_pose_y:1.9739208094486838,current_pose_yaw:3.1180126667022705 +[2026-10-09 17:42:55.574] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.574] [path_visualizer] [debug] current_cmd_angular_z:0.0035974659490459956 +[2026-10-09 17:42:55.618] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.618] [path_visualizer] [debug] current_pose_x:0.763889359391415, current_pose_y:1.9739208094486838,current_pose_yaw:3.1180126667022705 +[2026-10-09 17:42:55.618] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.618] [path_visualizer] [debug] current_cmd_angular_z:0.0035974659490459956 +[2026-10-09 17:42:55.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.673] [path_visualizer] [debug] current_pose_x:0.763889359391415, current_pose_y:1.9739208094486838,current_pose_yaw:3.1180126667022705 +[2026-10-09 17:42:55.673] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.673] [path_visualizer] [debug] current_cmd_angular_z:0.0035974659490459956 +[2026-10-09 17:42:55.725] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.725] [path_visualizer] [debug] current_pose_x:0.7133425682656149, current_pose_y:1.9739805238241295,current_pose_yaw:3.118157386779785 +[2026-10-09 17:42:55.725] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.725] [path_visualizer] [debug] current_cmd_angular_z:0.003475627744209467 +[2026-10-09 17:42:55.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.769] [path_visualizer] [debug] current_pose_x:0.7133425682656149, current_pose_y:1.9739805238241295,current_pose_yaw:3.118157386779785 +[2026-10-09 17:42:55.769] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.769] [path_visualizer] [debug] current_cmd_angular_z:0.003475627744209467 +[2026-10-09 17:42:55.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.825] [path_visualizer] [debug] current_pose_x:0.6627958463156158, current_pose_y:1.974038242018533,current_pose_yaw:3.1182971000671387 +[2026-10-09 17:42:55.825] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.825] [path_visualizer] [debug] current_cmd_angular_z:0.003358142987446945 +[2026-10-09 17:42:55.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.874] [path_visualizer] [debug] current_pose_x:0.6627958463156158, current_pose_y:1.974038242018533,current_pose_yaw:3.1182971000671387 +[2026-10-09 17:42:55.874] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.874] [path_visualizer] [debug] current_cmd_angular_z:0.003358142987446945 +[2026-10-09 17:42:55.923] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.923] [path_visualizer] [debug] current_pose_x:0.6627958463156158, current_pose_y:1.974038242018533,current_pose_yaw:3.1182971000671387 +[2026-10-09 17:42:55.923] [path_visualizer] [debug] current_path_x:0.7323501938194017, current_path_y:1.9918453043308613,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.923] [path_visualizer] [debug] current_cmd_angular_z:0.003358142987446945 +[2026-10-09 17:42:55.971] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:55.971] [path_visualizer] [debug] current_pose_x:0.6122491760774226, current_pose_y:1.9740941903526137,current_pose_yaw:3.1184325218200684 +[2026-10-09 17:42:55.971] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:55.971] [path_visualizer] [debug] current_cmd_angular_z:0.003244344913288899 +[2026-10-09 17:42:56.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.025] [path_visualizer] [debug] current_pose_x:0.6122491760774226, current_pose_y:1.9740941903526137,current_pose_yaw:3.1184325218200684 +[2026-10-09 17:42:56.025] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.025] [path_visualizer] [debug] current_cmd_angular_z:0.003244344913288899 +[2026-10-09 17:42:56.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.071] [path_visualizer] [debug] current_pose_x:0.6122491760774226, current_pose_y:1.9740941903526137,current_pose_yaw:3.1184325218200684 +[2026-10-09 17:42:56.071] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.071] [path_visualizer] [debug] current_cmd_angular_z:0.003244344913288899 +[2026-10-09 17:42:56.118] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.118] [path_visualizer] [debug] current_pose_x:0.5617025263151307, current_pose_y:1.9741464916180251,current_pose_yaw:3.1185648441314697 +[2026-10-09 17:42:56.118] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.118] [path_visualizer] [debug] current_cmd_angular_z:0.003128387172268189 +[2026-10-09 17:42:56.176] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.176] [path_visualizer] [debug] current_pose_x:0.5617025263151307, current_pose_y:1.9741464916180251,current_pose_yaw:3.1185648441314697 +[2026-10-09 17:42:56.176] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.176] [path_visualizer] [debug] current_cmd_angular_z:0.003128387172268189 +[2026-10-09 17:42:56.218] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.218] [path_visualizer] [debug] current_pose_x:0.5111559136381696, current_pose_y:1.974196348822475,current_pose_yaw:3.1186935901641846 +[2026-10-09 17:42:56.218] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.218] [path_visualizer] [debug] current_cmd_angular_z:0.0030135194483025887 +[2026-10-09 17:42:56.275] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.275] [path_visualizer] [debug] current_pose_x:0.5111559136381696, current_pose_y:1.974196348822475,current_pose_yaw:3.1186935901641846 +[2026-10-09 17:42:56.275] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.275] [path_visualizer] [debug] current_cmd_angular_z:0.0030135194483025887 +[2026-10-09 17:42:56.318] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.318] [path_visualizer] [debug] current_pose_x:0.5111559136381696, current_pose_y:1.974196348822475,current_pose_yaw:3.1186935901641846 +[2026-10-09 17:42:56.318] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.318] [path_visualizer] [debug] current_cmd_angular_z:0.0030135194483025887 +[2026-10-09 17:42:56.369] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.369] [path_visualizer] [debug] current_pose_x:0.4606093302668718, current_pose_y:1.9742428490276511,current_pose_yaw:3.1188197135925293 +[2026-10-09 17:42:56.369] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.369] [path_visualizer] [debug] current_cmd_angular_z:0.0028963475815231704 +[2026-10-09 17:42:56.420] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.420] [path_visualizer] [debug] current_pose_x:0.4606093302668718, current_pose_y:1.9742428490276511,current_pose_yaw:3.1188197135925293 +[2026-10-09 17:42:56.420] [path_visualizer] [debug] current_path_x:0.5370568089471925, current_path_y:1.9918452680119378,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.420] [path_visualizer] [debug] current_cmd_angular_z:0.0028963475815231704 +[2026-10-09 17:42:56.470] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.470] [path_visualizer] [debug] current_pose_x:0.41006278976590416, current_pose_y:1.9742883353933334,current_pose_yaw:3.118941068649292 +[2026-10-09 17:42:56.470] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.470] [path_visualizer] [debug] current_cmd_angular_z:0.002785153624663486 +[2026-10-09 17:42:56.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.519] [path_visualizer] [debug] current_pose_x:0.41006278976590416, current_pose_y:1.9742883353933334,current_pose_yaw:3.118941068649292 +[2026-10-09 17:42:56.519] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.519] [path_visualizer] [debug] current_cmd_angular_z:0.002785153624663486 +[2026-10-09 17:42:56.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.574] [path_visualizer] [debug] current_pose_x:0.41006278976590416, current_pose_y:1.9742883353933334,current_pose_yaw:3.118941068649292 +[2026-10-09 17:42:56.574] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.574] [path_visualizer] [debug] current_cmd_angular_z:0.002785153624663486 +[2026-10-09 17:42:56.619] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.619] [path_visualizer] [debug] current_pose_x:0.3595162967347245, current_pose_y:1.9743330100445893,current_pose_yaw:3.1190576553344727 +[2026-10-09 17:42:56.619] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.619] [path_visualizer] [debug] current_cmd_angular_z:0.0026801947276408056 +[2026-10-09 17:42:56.668] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.669] [path_visualizer] [debug] current_pose_x:0.3595162967347245, current_pose_y:1.9743330100445893,current_pose_yaw:3.1190576553344727 +[2026-10-09 17:42:56.669] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.669] [path_visualizer] [debug] current_cmd_angular_z:0.0026801947276408056 +[2026-10-09 17:42:56.719] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.719] [path_visualizer] [debug] current_pose_x:0.3595162967347245, current_pose_y:1.9743330100445893,current_pose_yaw:3.1190576553344727 +[2026-10-09 17:42:56.719] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.719] [path_visualizer] [debug] current_cmd_angular_z:0.0026801947276408056 +[2026-10-09 17:42:56.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.769] [path_visualizer] [debug] current_pose_x:0.30896981970350795, current_pose_y:1.9743749857676314,current_pose_yaw:3.119171380996704 +[2026-10-09 17:42:56.769] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.769] [path_visualizer] [debug] current_cmd_angular_z:0.002574632789258756 +[2026-10-09 17:42:56.819] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.819] [path_visualizer] [debug] current_pose_x:0.30896981970350795, current_pose_y:1.9743749857676314,current_pose_yaw:3.119171380996704 +[2026-10-09 17:42:56.819] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.819] [path_visualizer] [debug] current_cmd_angular_z:0.002574632789258756 +[2026-10-09 17:42:56.875] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.875] [path_visualizer] [debug] current_pose_x:0.2584233749697899, current_pose_y:1.9744154602514223,current_pose_yaw:3.119281530380249 +[2026-10-09 17:42:56.875] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.875] [path_visualizer] [debug] current_cmd_angular_z:0.002472030912736338 +[2026-10-09 17:42:56.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.925] [path_visualizer] [debug] current_pose_x:0.2584233749697899, current_pose_y:1.9744154602514223,current_pose_yaw:3.119281530380249 +[2026-10-09 17:42:56.925] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.925] [path_visualizer] [debug] current_cmd_angular_z:0.002472030912736338 +[2026-10-09 17:42:56.969] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:56.969] [path_visualizer] [debug] current_pose_x:0.2584233749697899, current_pose_y:1.9744154602514223,current_pose_yaw:3.119281530380249 +[2026-10-09 17:42:56.969] [path_visualizer] [debug] current_path_x:0.3417634240749834, current_path_y:1.9918452316930142,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:56.969] [path_visualizer] [debug] current_cmd_angular_z:0.002472030912736338 +[2026-10-09 17:42:57.018] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.018] [path_visualizer] [debug] current_pose_x:0.20787695915099869, current_pose_y:1.9744535204261235,current_pose_yaw:3.119389057159424 +[2026-10-09 17:42:57.018] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.018] [path_visualizer] [debug] current_cmd_angular_z:0.002369066555395885 +[2026-10-09 17:42:57.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.074] [path_visualizer] [debug] current_pose_x:0.20787695915099869, current_pose_y:1.9744535204261235,current_pose_yaw:3.119389057159424 +[2026-10-09 17:42:57.074] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.075] [path_visualizer] [debug] current_cmd_angular_z:0.002369066555395885 +[2026-10-09 17:42:57.120] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.120] [path_visualizer] [debug] current_pose_x:0.15733058740087658, current_pose_y:1.9744915089173452,current_pose_yaw:3.1194915771484375 +[2026-10-09 17:42:57.120] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.120] [path_visualizer] [debug] current_cmd_angular_z:0.002274200923126829 +[2026-10-09 17:42:57.174] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.174] [path_visualizer] [debug] current_pose_x:0.15733058740087658, current_pose_y:1.9744915089173452,current_pose_yaw:3.1194915771484375 +[2026-10-09 17:42:57.174] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.174] [path_visualizer] [debug] current_cmd_angular_z:0.002274200923126829 +[2026-10-09 17:42:57.224] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.224] [path_visualizer] [debug] current_pose_x:0.15733058740087658, current_pose_y:1.9744915089173452,current_pose_yaw:3.1194915771484375 +[2026-10-09 17:42:57.224] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.224] [path_visualizer] [debug] current_cmd_angular_z:0.002274200923126829 +[2026-10-09 17:42:57.273] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.273] [path_visualizer] [debug] current_pose_x:0.10678424718142282, current_pose_y:1.9745285631074168,current_pose_yaw:3.1195907592773438 +[2026-10-09 17:42:57.273] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.273] [path_visualizer] [debug] current_cmd_angular_z:0.0021830240022874606 +[2026-10-09 17:42:57.322] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.322] [path_visualizer] [debug] current_pose_x:0.10678424718142282, current_pose_y:1.9745285631074168,current_pose_yaw:3.1195907592773438 +[2026-10-09 17:42:57.322] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.322] [path_visualizer] [debug] current_cmd_angular_z:0.0021830240022874606 +[2026-10-09 17:42:57.371] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.371] [path_visualizer] [debug] current_pose_x:0.10678424718142282, current_pose_y:1.9745285631074168,current_pose_yaw:3.1195907592773438 +[2026-10-09 17:42:57.371] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.371] [path_visualizer] [debug] current_cmd_angular_z:0.0021830240022874606 +[2026-10-09 17:42:57.422] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.422] [path_visualizer] [debug] current_pose_x:0.056235798551383775, current_pose_y:1.974562711011118,current_pose_yaw:3.119687795639038 +[2026-10-09 17:42:57.422] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.423] [path_visualizer] [debug] current_cmd_angular_z:0.002089645213847649 +[2026-10-09 17:42:57.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.472] [path_visualizer] [debug] current_pose_x:0.056235798551383775, current_pose_y:1.974562711011118,current_pose_yaw:3.119687795639038 +[2026-10-09 17:42:57.472] [path_visualizer] [debug] current_path_x:0.14647003920277335, current_path_y:1.9918451953740908,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.472] [path_visualizer] [debug] current_cmd_angular_z:0.002089645213847649 +[2026-10-09 17:42:57.526] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.526] [path_visualizer] [debug] current_pose_x:0.005689482818750424, current_pose_y:1.9745940303051166,current_pose_yaw:3.1197831630706787 +[2026-10-09 17:42:57.526] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.526] [path_visualizer] [debug] current_cmd_angular_z:0.001993498810352559 +[2026-10-09 17:42:57.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.574] [path_visualizer] [debug] current_pose_x:0.005689482818750424, current_pose_y:1.9745940303051166,current_pose_yaw:3.1197831630706787 +[2026-10-09 17:42:57.574] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.574] [path_visualizer] [debug] current_cmd_angular_z:0.001993498810352559 +[2026-10-09 17:42:57.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.624] [path_visualizer] [debug] current_pose_x:0.005689482818750424, current_pose_y:1.9745940303051166,current_pose_yaw:3.1197831630706787 +[2026-10-09 17:42:57.624] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.624] [path_visualizer] [debug] current_cmd_angular_z:0.001993498810352559 +[2026-10-09 17:42:57.669] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.669] [path_visualizer] [debug] current_pose_x:-0.04485678209036725, current_pose_y:1.9746236794143255,current_pose_yaw:3.11987566947937 +[2026-10-09 17:42:57.669] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.669] [path_visualizer] [debug] current_cmd_angular_z:0.0018987179541196386 +[2026-10-09 17:42:57.725] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.725] [path_visualizer] [debug] current_pose_x:-0.04485678209036725, current_pose_y:1.9746236794143255,current_pose_yaw:3.11987566947937 +[2026-10-09 17:42:57.725] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.725] [path_visualizer] [debug] current_cmd_angular_z:0.0018987179541196386 +[2026-10-09 17:42:57.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.769] [path_visualizer] [debug] current_pose_x:-0.09540300011184327, current_pose_y:1.9746540046063787,current_pose_yaw:3.1199636459350586 +[2026-10-09 17:42:57.769] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.769] [path_visualizer] [debug] current_cmd_angular_z:0.0018127991684469894 +[2026-10-09 17:42:57.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.825] [path_visualizer] [debug] current_pose_x:-0.09540300011184327, current_pose_y:1.9746540046063787,current_pose_yaw:3.1199636459350586 +[2026-10-09 17:42:57.825] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.825] [path_visualizer] [debug] current_cmd_angular_z:0.0018127991684469894 +[2026-10-09 17:42:57.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.871] [path_visualizer] [debug] current_pose_x:-0.09540300011184327, current_pose_y:1.9746540046063787,current_pose_yaw:3.1199636459350586 +[2026-10-09 17:42:57.871] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.871] [path_visualizer] [debug] current_cmd_angular_z:0.0018127991684469894 +[2026-10-09 17:42:57.919] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.919] [path_visualizer] [debug] current_pose_x:-0.14594918937011353, current_pose_y:1.9746841454123238,current_pose_yaw:3.1200478076934814 +[2026-10-09 17:42:57.919] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.919] [path_visualizer] [debug] current_cmd_angular_z:0.0017328482109627008 +[2026-10-09 17:42:57.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:57.973] [path_visualizer] [debug] current_pose_x:-0.14594918937011353, current_pose_y:1.9746841454123238,current_pose_yaw:3.1200478076934814 +[2026-10-09 17:42:57.973] [path_visualizer] [debug] current_path_x:-0.0488233456694358, current_path_y:1.9918451590551671,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:57.973] [path_visualizer] [debug] current_cmd_angular_z:0.0017328482109627008 +[2026-10-09 17:42:58.018] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.018] [path_visualizer] [debug] current_pose_x:-0.1964974812658976, current_pose_y:1.974712123090702,current_pose_yaw:3.1201300621032715 +[2026-10-09 17:42:58.018] [path_visualizer] [debug] current_path_x:-0.24411673054164584, current_path_y:1.9918451227362437,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.018] [path_visualizer] [debug] current_cmd_angular_z:0.001651845439418792 +[2026-10-09 17:42:58.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.071] [path_visualizer] [debug] current_pose_x:-0.1964974812658976, current_pose_y:1.974712123090702,current_pose_yaw:3.1201300621032715 +[2026-10-09 17:42:58.071] [path_visualizer] [debug] current_path_x:-0.24411673054164584, current_path_y:1.9918451227362437,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.071] [path_visualizer] [debug] current_cmd_angular_z:0.001651845439418792 +[2026-10-09 17:42:58.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.119] [path_visualizer] [debug] current_pose_x:-0.1964974812658976, current_pose_y:1.974712123090702,current_pose_yaw:3.1201300621032715 +[2026-10-09 17:42:58.119] [path_visualizer] [debug] current_path_x:-0.24411673054164584, current_path_y:1.9918451227362437,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.119] [path_visualizer] [debug] current_cmd_angular_z:0.001651845439418792 +[2026-10-09 17:42:58.176] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.176] [path_visualizer] [debug] current_pose_x:-0.24704363595578455, current_pose_y:1.974739086965531,current_pose_yaw:3.1202096939086914 +[2026-10-09 17:42:58.176] [path_visualizer] [debug] current_path_x:-0.24411673054164584, current_path_y:1.9918451227362437,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.176] [path_visualizer] [debug] current_cmd_angular_z:0.0015731142711827503 +[2026-10-09 17:42:58.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.223] [path_visualizer] [debug] current_pose_x:-0.24704363595578455, current_pose_y:1.974739086965531,current_pose_yaw:3.1202096939086914 +[2026-10-09 17:42:58.223] [path_visualizer] [debug] current_path_x:-0.24411673054164584, current_path_y:1.9918451227362437,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.223] [path_visualizer] [debug] current_cmd_angular_z:0.0015731142711827503 +[2026-10-09 17:42:58.271] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.271] [path_visualizer] [debug] current_pose_x:-0.24704363595578455, current_pose_y:1.974739086965531,current_pose_yaw:3.1202096939086914 +[2026-10-09 17:42:58.271] [path_visualizer] [debug] current_path_x:-0.24411673054164584, current_path_y:1.9918451227362437,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.271] [path_visualizer] [debug] current_cmd_angular_z:0.0015731142711827503 +[2026-10-09 17:42:58.327] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.327] [path_visualizer] [debug] current_pose_x:-0.29758974770918867, current_pose_y:1.9747652222563459,current_pose_yaw:3.120286464691162 +[2026-10-09 17:42:58.327] [path_visualizer] [debug] current_path_x:-0.24411673054164584, current_path_y:1.9918451227362437,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.327] [path_visualizer] [debug] current_cmd_angular_z:0.0014974898058735114 +[2026-10-09 17:42:58.370] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.370] [path_visualizer] [debug] current_pose_x:-0.29758974770918867, current_pose_y:1.9747652222563459,current_pose_yaw:3.120286464691162 +[2026-10-09 17:42:58.370] [path_visualizer] [debug] current_path_x:-0.24411673054164584, current_path_y:1.9918451227362437,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.370] [path_visualizer] [debug] current_cmd_angular_z:0.0014974898058735114 +[2026-10-09 17:42:58.424] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.424] [path_visualizer] [debug] current_pose_x:-0.3481358163640921, current_pose_y:1.974791729697533,current_pose_yaw:3.1203596591949463 +[2026-10-09 17:42:58.424] [path_visualizer] [debug] current_path_x:-0.4394101154138559, current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.425] [path_visualizer] [debug] current_cmd_angular_z:0.0014286130652404957 +[2026-10-09 17:42:58.469] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.469] [path_visualizer] [debug] current_pose_x:-0.3481358163640921, current_pose_y:1.974791729697533,current_pose_yaw:3.1203596591949463 +[2026-10-09 17:42:58.469] [path_visualizer] [debug] current_path_x:-0.4394101154138559, current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.469] [path_visualizer] [debug] current_cmd_angular_z:0.0014286130652404957 +[2026-10-09 17:42:58.526] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.526] [path_visualizer] [debug] current_pose_x:-0.3481358163640921, current_pose_y:1.974791729697533,current_pose_yaw:3.1203596591949463 +[2026-10-09 17:42:58.526] [path_visualizer] [debug] current_path_x:-0.4394101154138559, current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.526] [path_visualizer] [debug] current_cmd_angular_z:0.0014286130652404957 +[2026-10-09 17:42:58.571] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.571] [path_visualizer] [debug] current_pose_x:-0.3986818887108539, current_pose_y:1.9748144667233651,current_pose_yaw:3.1204326152801514 +[2026-10-09 17:42:58.572] [path_visualizer] [debug] current_path_x:-0.4394101154138559, current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 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current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.669] [path_visualizer] [debug] current_cmd_angular_z:0.0012831860088134972 +[2026-10-09 17:42:58.719] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.719] [path_visualizer] [debug] current_pose_x:-0.44922791157516034, current_pose_y:1.9748377550761882,current_pose_yaw:3.120502233505249 +[2026-10-09 17:42:58.719] [path_visualizer] [debug] current_path_x:-0.4394101154138559, current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.719] [path_visualizer] [debug] current_cmd_angular_z:0.0012831860088134972 +[2026-10-09 17:42:58.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.774] [path_visualizer] [debug] current_pose_x:-0.44922791157516034, current_pose_y:1.9748377550761882,current_pose_yaw:3.120502233505249 +[2026-10-09 17:42:58.774] [path_visualizer] [debug] current_path_x:-0.4394101154138559, current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.774] [path_visualizer] [debug] current_cmd_angular_z:0.0012831860088134972 +[2026-10-09 17:42:58.820] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.820] [path_visualizer] [debug] current_pose_x:-0.4997755121375293, current_pose_y:1.9748601549613243,current_pose_yaw:3.1205692291259766 +[2026-10-09 17:42:58.820] [path_visualizer] [debug] current_path_x:-0.4394101154138559, current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.820] [path_visualizer] [debug] current_cmd_angular_z:0.0012163822543586958 +[2026-10-09 17:42:58.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.871] [path_visualizer] [debug] current_pose_x:-0.4997755121375293, current_pose_y:1.9748601549613243,current_pose_yaw:3.1205692291259766 +[2026-10-09 17:42:58.871] [path_visualizer] [debug] current_path_x:-0.4394101154138559, current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.871] [path_visualizer] [debug] current_cmd_angular_z:0.0012163822543586958 +[2026-10-09 17:42:58.926] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.926] [path_visualizer] [debug] current_pose_x:-0.4997755121375293, current_pose_y:1.9748601549613243,current_pose_yaw:3.1205692291259766 +[2026-10-09 17:42:58.926] [path_visualizer] [debug] current_path_x:-0.4394101154138559, current_path_y:1.9918450864173203,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.926] [path_visualizer] [debug] current_cmd_angular_z:0.0012163822543586958 +[2026-10-09 17:42:58.969] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:58.969] [path_visualizer] [debug] current_pose_x:-0.5503293697749492, current_pose_y:1.9748836027735381,current_pose_yaw:3.1206369400024414 +[2026-10-09 17:42:58.969] [path_visualizer] [debug] current_path_x:-0.6347035002860641, current_path_y:1.9918450500983966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:58.969] [path_visualizer] [debug] current_cmd_angular_z:0.0011505413540005976 +[2026-10-09 17:42:59.026] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.026] [path_visualizer] [debug] current_pose_x:-0.5503293697749492, current_pose_y:1.9748836027735381,current_pose_yaw:3.1206369400024414 +[2026-10-09 17:42:59.026] [path_visualizer] [debug] current_path_x:-0.6347035002860641, current_path_y:1.9918450500983966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.026] [path_visualizer] [debug] current_cmd_angular_z:0.0011505413540005976 +[2026-10-09 17:42:59.076] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.076] [path_visualizer] [debug] current_pose_x:-0.6008854581041077, current_pose_y:1.9749087205431632,current_pose_yaw:3.1207010746002197 +[2026-10-09 17:42:59.076] [path_visualizer] [debug] current_path_x:-0.6347035002860641, current_path_y:1.9918450500983966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.076] [path_visualizer] [debug] current_cmd_angular_z:0.0010938785645513427 +[2026-10-09 17:42:59.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.125] [path_visualizer] [debug] current_pose_x:-0.6008854581041077, current_pose_y:1.9749087205431632,current_pose_yaw:3.1207010746002197 +[2026-10-09 17:42:59.125] [path_visualizer] [debug] current_path_x:-0.6347035002860641, current_path_y:1.9918450500983966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.125] [path_visualizer] [debug] current_cmd_angular_z:0.0010938785645513427 +[2026-10-09 17:42:59.173] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.173] [path_visualizer] [debug] current_pose_x:-0.6008854581041077, current_pose_y:1.9749087205431632,current_pose_yaw:3.1207010746002197 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current_pose_y:1.9749306022517112,current_pose_yaw:3.120765209197998 +[2026-10-09 17:42:59.270] [path_visualizer] [debug] current_path_x:-0.6347035002860641, current_path_y:1.9918450500983966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.270] [path_visualizer] [debug] current_cmd_angular_z:0.001030797192312527 +[2026-10-09 17:42:59.328] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.328] [path_visualizer] [debug] current_pose_x:-0.7019967784505081, current_pose_y:1.9749536442461344,current_pose_yaw:3.1208255290985107 +[2026-10-09 17:42:59.328] [path_visualizer] [debug] current_path_x:-0.6347035002860641, current_path_y:1.9918450500983966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.328] [path_visualizer] [debug] current_cmd_angular_z:0.0009763507451564721 +[2026-10-09 17:42:59.371] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.371] [path_visualizer] [debug] current_pose_x:-0.7019967784505081, current_pose_y:1.9749536442461344,current_pose_yaw:3.1208255290985107 +[2026-10-09 17:42:59.371] [path_visualizer] [debug] current_path_x:-0.6347035002860641, current_path_y:1.9918450500983966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.371] [path_visualizer] [debug] current_cmd_angular_z:0.0009763507451564721 +[2026-10-09 17:42:59.422] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.422] [path_visualizer] [debug] current_pose_x:-0.7019967784505081, current_pose_y:1.9749536442461344,current_pose_yaw:3.1208255290985107 +[2026-10-09 17:42:59.422] [path_visualizer] [debug] current_path_x:-0.6347035002860641, current_path_y:1.9918450500983966,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.422] [path_visualizer] [debug] current_cmd_angular_z:0.0009763507451564721 +[2026-10-09 17:42:59.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.472] [path_visualizer] [debug] current_pose_x:-0.7525542630560424, current_pose_y:1.974975917217845,current_pose_yaw:3.1208837032318115 +[2026-10-09 17:42:59.472] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.472] [path_visualizer] [debug] current_cmd_angular_z:0.0009240134755925736 +[2026-10-09 17:42:59.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.519] [path_visualizer] [debug] current_pose_x:-0.7525542630560424, current_pose_y:1.974975917217845,current_pose_yaw:3.1208837032318115 +[2026-10-09 17:42:59.519] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.519] [path_visualizer] [debug] current_cmd_angular_z:0.0009240134755925736 +[2026-10-09 17:42:59.572] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.572] [path_visualizer] [debug] current_pose_x:-0.8031094807713934, current_pose_y:1.9749975256985857,current_pose_yaw:3.1209399700164795 +[2026-10-09 17:42:59.572] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.572] [path_visualizer] [debug] current_cmd_angular_z:0.0008734531146663629 +[2026-10-09 17:42:59.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.624] [path_visualizer] [debug] current_pose_x:-0.8031094807713934, current_pose_y:1.9749975256985857,current_pose_yaw:3.1209399700164795 +[2026-10-09 17:42:59.624] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.624] [path_visualizer] [debug] current_cmd_angular_z:0.0008734531146663629 +[2026-10-09 17:42:59.669] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.670] [path_visualizer] [debug] current_pose_x:-0.8031094807713934, current_pose_y:1.9749975256985857,current_pose_yaw:3.1209399700164795 +[2026-10-09 17:42:59.670] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.670] [path_visualizer] [debug] current_cmd_angular_z:0.0008734531146663629 +[2026-10-09 17:42:59.727] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.727] [path_visualizer] [debug] current_pose_x:-0.8536645328333737, current_pose_y:1.975017477044383,current_pose_yaw:3.120995283126831 +[2026-10-09 17:42:59.727] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.727] [path_visualizer] [debug] current_cmd_angular_z:0.0008211892879547433 +[2026-10-09 17:42:59.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.769] [path_visualizer] [debug] current_pose_x:-0.8536645328333737, current_pose_y:1.975017477044383,current_pose_yaw:3.120995283126831 +[2026-10-09 17:42:59.769] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.769] [path_visualizer] [debug] current_cmd_angular_z:0.0008211892879547433 +[2026-10-09 17:42:59.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.825] [path_visualizer] [debug] current_pose_x:-0.8536645328333737, current_pose_y:1.975017477044383,current_pose_yaw:3.120995283126831 +[2026-10-09 17:42:59.825] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.825] [path_visualizer] [debug] current_cmd_angular_z:0.0008211892879547433 +[2026-10-09 17:42:59.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.871] [path_visualizer] [debug] current_pose_x:-0.9042194242981161, current_pose_y:1.9750380308391313,current_pose_yaw:3.1210474967956543 +[2026-10-09 17:42:59.871] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.871] [path_visualizer] [debug] current_cmd_angular_z:0.0007752664010826082 +[2026-10-09 17:42:59.919] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.919] [path_visualizer] [debug] current_pose_x:-0.9042194242981161, current_pose_y:1.9750380308391313,current_pose_yaw:3.1210474967956543 +[2026-10-09 17:42:59.919] [path_visualizer] [debug] current_path_x:-0.8299968851582742, current_path_y:1.9918450137794732,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.919] [path_visualizer] [debug] current_cmd_angular_z:0.0007752664010826082 +[2026-10-09 17:42:59.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:42:59.974] [path_visualizer] [debug] current_pose_x:-0.9547741831801022, current_pose_y:1.9750560700636766,current_pose_yaw:3.1210997104644775 +[2026-10-09 17:42:59.974] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:42:59.974] [path_visualizer] [debug] current_cmd_angular_z:0.0007244278544534383 +[2026-10-09 17:43:00.028] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.028] [path_visualizer] [debug] current_pose_x:-0.9547741831801022, current_pose_y:1.9750560700636766,current_pose_yaw:3.1210997104644775 +[2026-10-09 17:43:00.028] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.028] [path_visualizer] [debug] current_cmd_angular_z:0.0007244278544534383 +[2026-10-09 17:43:00.069] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.069] [path_visualizer] [debug] current_pose_x:-0.9547741831801022, current_pose_y:1.9750560700636766,current_pose_yaw:3.1210997104644775 +[2026-10-09 17:43:00.069] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.069] [path_visualizer] [debug] current_cmd_angular_z:0.0007244278544534383 +[2026-10-09 17:43:00.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.119] [path_visualizer] [debug] current_pose_x:-1.0053287750897881, current_pose_y:1.9750748181301336,current_pose_yaw:3.1211488246917725 +[2026-10-09 17:43:00.119] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.119] [path_visualizer] [debug] current_cmd_angular_z:0.0006800693952862952 +[2026-10-09 17:43:00.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.171] [path_visualizer] [debug] current_pose_x:-1.0053287750897881, current_pose_y:1.9750748181301336,current_pose_yaw:3.1211488246917725 +[2026-10-09 17:43:00.171] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.171] [path_visualizer] [debug] current_cmd_angular_z:0.0006800693952862952 +[2026-10-09 17:43:00.220] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.220] [path_visualizer] [debug] current_pose_x:-1.0053287750897881, current_pose_y:1.9750748181301336,current_pose_yaw:3.1211488246917725 +[2026-10-09 17:43:00.220] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.220] [path_visualizer] [debug] current_cmd_angular_z:0.0006800693952862952 +[2026-10-09 17:43:00.270] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.270] [path_visualizer] [debug] current_pose_x:-1.0558832245643015, current_pose_y:1.9750923095723874,current_pose_yaw:3.121196985244751 +[2026-10-09 17:43:00.270] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.270] [path_visualizer] [debug] current_cmd_angular_z:0.0006348018655204651 +[2026-10-09 17:43:00.319] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.319] [path_visualizer] [debug] current_pose_x:-1.0558832245643015, current_pose_y:1.9750923095723874,current_pose_yaw:3.121196985244751 +[2026-10-09 17:43:00.319] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.319] [path_visualizer] [debug] current_cmd_angular_z:0.0006348018655204651 +[2026-10-09 17:43:00.373] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.373] [path_visualizer] [debug] current_pose_x:-1.1064396394254747, current_pose_y:1.975109655594137,current_pose_yaw:3.1212432384490967 +[2026-10-09 17:43:00.373] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.373] [path_visualizer] [debug] current_cmd_angular_z:0.0005924126755777748 +[2026-10-09 17:43:00.422] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.422] [path_visualizer] [debug] current_pose_x:-1.1064396394254747, current_pose_y:1.975109655594137,current_pose_yaw:3.1212432384490967 +[2026-10-09 17:43:00.422] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.422] [path_visualizer] [debug] current_cmd_angular_z:0.0005924126755777748 +[2026-10-09 17:43:00.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.474] [path_visualizer] [debug] current_pose_x:-1.1064396394254747, current_pose_y:1.975109655594137,current_pose_yaw:3.1212432384490967 +[2026-10-09 17:43:00.474] [path_visualizer] [debug] current_path_x:-1.0252902700304842, current_path_y:1.9918449774605496,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.474] [path_visualizer] [debug] current_cmd_angular_z:0.0005924126755777748 +[2026-10-09 17:43:00.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.519] [path_visualizer] [debug] current_pose_x:-1.1569943304265193, current_pose_y:1.975126404241804,current_pose_yaw:3.1212878227233887 +[2026-10-09 17:43:00.519] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.519] [path_visualizer] [debug] current_cmd_angular_z:0.0005516814268986536 +[2026-10-09 17:43:00.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.573] [path_visualizer] [debug] current_pose_x:-1.1569943304265193, current_pose_y:1.975126404241804,current_pose_yaw:3.1212878227233887 +[2026-10-09 17:43:00.573] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.573] [path_visualizer] [debug] current_cmd_angular_z:0.0005516814268986536 +[2026-10-09 17:43:00.623] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.623] [path_visualizer] [debug] current_pose_x:-1.2075483270971115, current_pose_y:1.9751415750611443,current_pose_yaw:3.1213316917419434 +[2026-10-09 17:43:00.623] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.623] [path_visualizer] [debug] current_cmd_angular_z:0.0005089362886389545 +[2026-10-09 17:43:00.671] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.672] [path_visualizer] [debug] current_pose_x:-1.2075483270971115, current_pose_y:1.9751415750611443,current_pose_yaw:3.1213316917419434 +[2026-10-09 17:43:00.672] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.672] [path_visualizer] [debug] current_cmd_angular_z:0.0005089362886389545 +[2026-10-09 17:43:00.721] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.721] [path_visualizer] [debug] current_pose_x:-1.2075483270971115, current_pose_y:1.9751415750611443,current_pose_yaw:3.1213316917419434 +[2026-10-09 17:43:00.721] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.721] [path_visualizer] [debug] current_cmd_angular_z:0.0005089362886389545 +[2026-10-09 17:43:00.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.769] [path_visualizer] [debug] current_pose_x:-1.2581021455808918, current_pose_y:1.975158964502314,current_pose_yaw:3.1213719844818115 +[2026-10-09 17:43:00.769] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.769] [path_visualizer] [debug] current_cmd_angular_z:0.0004765293907529958 +[2026-10-09 17:43:00.825] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.825] [path_visualizer] [debug] current_pose_x:-1.2581021455808918, current_pose_y:1.975158964502314,current_pose_yaw:3.1213719844818115 +[2026-10-09 17:43:00.825] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.825] [path_visualizer] [debug] current_cmd_angular_z:0.0004765293907529958 +[2026-10-09 17:43:00.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.874] [path_visualizer] [debug] current_pose_x:-1.2581021455808918, current_pose_y:1.975158964502314,current_pose_yaw:3.1213719844818115 +[2026-10-09 17:43:00.874] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.874] [path_visualizer] [debug] current_cmd_angular_z:0.0004765293907529958 +[2026-10-09 17:43:00.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.925] [path_visualizer] [debug] current_pose_x:-1.3086558379526296, current_pose_y:1.975174449451025,current_pose_yaw:3.1214120388031006 +[2026-10-09 17:43:00.925] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.925] [path_visualizer] [debug] current_cmd_angular_z:0.0004407408638956098 +[2026-10-09 17:43:00.975] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:00.975] [path_visualizer] [debug] current_pose_x:-1.3086558379526296, current_pose_y:1.975174449451025,current_pose_yaw:3.1214120388031006 +[2026-10-09 17:43:00.975] [path_visualizer] [debug] current_path_x:-1.2205836549026934, current_path_y:1.9918449411416261,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:00.975] [path_visualizer] [debug] current_cmd_angular_z:0.0004407408638956098 +[2026-10-09 17:43:01.026] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.026] [path_visualizer] [debug] current_pose_x:-1.3592232824165507, current_pose_y:1.9751759563174902,current_pose_yaw:3.121450424194336 +[2026-10-09 17:43:01.026] [path_visualizer] [debug] current_path_x:-1.4158770397749034, current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 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current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.125] [path_visualizer] [debug] current_cmd_angular_z:0.00038007024057174627 +[2026-10-09 17:43:01.168] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.169] [path_visualizer] [debug] current_pose_x:-1.4097884527156503, current_pose_y:1.9751723214919499,current_pose_yaw:3.1214847564697266 +[2026-10-09 17:43:01.169] [path_visualizer] [debug] current_path_x:-1.4158770397749034, current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.169] [path_visualizer] [debug] current_cmd_angular_z:0.00031585881912124525 +[2026-10-09 17:43:01.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.225] [path_visualizer] [debug] current_pose_x:-1.4097884527156503, current_pose_y:1.9751723214919499,current_pose_yaw:3.1214847564697266 +[2026-10-09 17:43:01.225] [path_visualizer] [debug] current_path_x:-1.4158770397749034, current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.225] [path_visualizer] [debug] current_cmd_angular_z:0.00031585881912124525 +[2026-10-09 17:43:01.270] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.270] [path_visualizer] [debug] current_pose_x:-1.46035306338036, current_pose_y:1.9751685433244128,current_pose_yaw:3.121518135070801 +[2026-10-09 17:43:01.270] [path_visualizer] [debug] current_path_x:-1.4158770397749034, current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.270] [path_visualizer] [debug] current_cmd_angular_z:0.00025294647266631276 +[2026-10-09 17:43:01.323] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.323] [path_visualizer] [debug] current_pose_x:-1.46035306338036, current_pose_y:1.9751685433244128,current_pose_yaw:3.121518135070801 +[2026-10-09 17:43:01.323] [path_visualizer] [debug] current_path_x:-1.4158770397749034, current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.323] [path_visualizer] [debug] current_cmd_angular_z:0.00025294647266631276 +[2026-10-09 17:43:01.373] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.373] [path_visualizer] [debug] current_pose_x:-1.46035306338036, current_pose_y:1.9751685433244128,current_pose_yaw:3.121518135070801 +[2026-10-09 17:43:01.373] [path_visualizer] [debug] current_path_x:-1.4158770397749034, current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.373] [path_visualizer] [debug] current_cmd_angular_z:0.00025294647266631276 +[2026-10-09 17:43:01.426] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.426] [path_visualizer] [debug] current_pose_x:-1.5109148504521563, current_pose_y:1.975169791145377,current_pose_yaw:3.1215479373931885 +[2026-10-09 17:43:01.426] [path_visualizer] [debug] current_path_x:-1.4158770397749034, current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.426] [path_visualizer] [debug] current_cmd_angular_z:0.00020594065314291643 +[2026-10-09 17:43:01.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.474] [path_visualizer] [debug] current_pose_x:-1.5109148504521563, current_pose_y:1.975169791145377,current_pose_yaw:3.1215479373931885 +[2026-10-09 17:43:01.474] [path_visualizer] [debug] current_path_x:-1.4158770397749034, current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.474] [path_visualizer] [debug] current_cmd_angular_z:0.00020594065314291643 +[2026-10-09 17:43:01.524] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.524] [path_visualizer] [debug] current_pose_x:-1.5109148504521563, current_pose_y:1.975169791145377,current_pose_yaw:3.1215479373931885 +[2026-10-09 17:43:01.524] [path_visualizer] [debug] current_path_x:-1.4158770397749034, current_path_y:1.9918449048227025,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.524] [path_visualizer] [debug] current_cmd_angular_z:0.00020594065314291643 +[2026-10-09 17:43:01.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.573] [path_visualizer] [debug] current_pose_x:-1.5614635230129377, current_pose_y:1.9751833471439308,current_pose_yaw:3.1215758323669434 +[2026-10-09 17:43:01.573] [path_visualizer] [debug] current_path_x:-1.6111704246471126, current_path_y:1.991844868503779,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.573] [path_visualizer] [debug] current_cmd_angular_z:0.00018658620777661783 +[2026-10-09 17:43:01.619] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.619] [path_visualizer] [debug] current_pose_x:-1.5614635230129377, current_pose_y:1.9751833471439308,current_pose_yaw:3.1215758323669434 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current_pose_y:1.9752016013320182,current_pose_yaw:3.1215999126434326 +[2026-10-09 17:43:01.725] [path_visualizer] [debug] current_path_x:-1.6111704246471126, current_path_y:1.991844868503779,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.725] [path_visualizer] [debug] current_cmd_angular_z:0.00018281208350782313 +[2026-10-09 17:43:01.777] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.777] [path_visualizer] [debug] current_pose_x:-1.612010716047393, current_pose_y:1.9752016013320182,current_pose_yaw:3.1215999126434326 +[2026-10-09 17:43:01.777] [path_visualizer] [debug] current_path_x:-1.6111704246471126, current_path_y:1.991844868503779,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.777] [path_visualizer] [debug] current_cmd_angular_z:0.00018281208350782313 +[2026-10-09 17:43:01.822] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.822] [path_visualizer] [debug] current_pose_x:-1.662558248514197, current_pose_y:1.9752183305736424,current_pose_yaw:3.121623992919922 +[2026-10-09 17:43:01.822] [path_visualizer] [debug] current_path_x:-1.6111704246471126, current_path_y:1.991844868503779,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.823] [path_visualizer] [debug] current_cmd_angular_z:0.00017601329595592907 +[2026-10-09 17:43:01.872] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.872] [path_visualizer] [debug] current_pose_x:-1.662558248514197, current_pose_y:1.9752183305736424,current_pose_yaw:3.121623992919922 +[2026-10-09 17:43:01.872] [path_visualizer] [debug] current_path_x:-1.6111704246471126, current_path_y:1.991844868503779,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.872] [path_visualizer] [debug] current_cmd_angular_z:0.00017601329595592907 +[2026-10-09 17:43:01.922] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.922] [path_visualizer] [debug] current_pose_x:-1.7131043441703555, current_pose_y:1.9752382864151372,current_pose_yaw:3.1216511726379395 +[2026-10-09 17:43:01.922] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.922] [path_visualizer] [debug] current_cmd_angular_z:0.00017054019416044147 +[2026-10-09 17:43:01.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:01.973] [path_visualizer] [debug] current_pose_x:-1.7131043441703555, current_pose_y:1.9752382864151372,current_pose_yaw:3.1216511726379395 +[2026-10-09 17:43:01.973] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:01.973] [path_visualizer] [debug] current_cmd_angular_z:0.00017054019416044147 +[2026-10-09 17:43:02.023] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.023] [path_visualizer] [debug] current_pose_x:-1.7131043441703555, current_pose_y:1.9752382864151372,current_pose_yaw:3.1216511726379395 +[2026-10-09 17:43:02.023] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.023] [path_visualizer] [debug] current_cmd_angular_z:0.00017054019416044147 +[2026-10-09 17:43:02.075] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.075] [path_visualizer] [debug] current_pose_x:-1.7636496852974104, current_pose_y:1.9752596984356234,current_pose_yaw:3.1216797828674316 +[2026-10-09 17:43:02.075] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.075] [path_visualizer] [debug] current_cmd_angular_z:0.00016550839918812177 +[2026-10-09 17:43:02.119] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.119] [path_visualizer] [debug] current_pose_x:-1.7636496852974104, current_pose_y:1.9752596984356234,current_pose_yaw:3.1216797828674316 +[2026-10-09 17:43:02.119] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.119] [path_visualizer] [debug] current_cmd_angular_z:0.00016550839918812177 +[2026-10-09 17:43:02.173] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.173] [path_visualizer] [debug] current_pose_x:-1.7636496852974104, current_pose_y:1.9752596984356234,current_pose_yaw:3.1216797828674316 +[2026-10-09 17:43:02.173] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.173] [path_visualizer] [debug] current_cmd_angular_z:0.00016550839918812177 +[2026-10-09 17:43:02.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.225] [path_visualizer] [debug] current_pose_x:-1.8141954789110644, current_pose_y:1.9752794671014837,current_pose_yaw:3.1217081546783447 +[2026-10-09 17:43:02.225] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.225] [path_visualizer] [debug] current_cmd_angular_z:0.0001576129304869181 +[2026-10-09 17:43:02.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.269] [path_visualizer] [debug] current_pose_x:-1.8141954789110644, current_pose_y:1.9752794671014837,current_pose_yaw:3.1217081546783447 +[2026-10-09 17:43:02.269] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.269] [path_visualizer] [debug] current_cmd_angular_z:0.0001576129304869181 +[2026-10-09 17:43:02.320] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.320] [path_visualizer] [debug] current_pose_x:-1.8647415946134485, current_pose_y:1.9752977886180116,current_pose_yaw:3.121736764907837 +[2026-10-09 17:43:02.320] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.320] [path_visualizer] [debug] current_cmd_angular_z:0.0001464512587779354 +[2026-10-09 17:43:02.369] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.369] [path_visualizer] [debug] current_pose_x:-1.8647415946134485, current_pose_y:1.9752977886180116,current_pose_yaw:3.121736764907837 +[2026-10-09 17:43:02.369] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.369] [path_visualizer] [debug] current_cmd_angular_z:0.0001464512587779354 +[2026-10-09 17:43:02.418] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.418] [path_visualizer] [debug] current_pose_x:-1.8647415946134485, current_pose_y:1.9752977886180116,current_pose_yaw:3.121736764907837 +[2026-10-09 17:43:02.418] [path_visualizer] [debug] current_path_x:-1.8064638095193217, current_path_y:1.9918448321848554,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.418] [path_visualizer] [debug] current_cmd_angular_z:0.0001464512587779354 +[2026-10-09 17:43:02.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.474] [path_visualizer] [debug] current_pose_x:-1.915287983862777, current_pose_y:1.9753147544144034,current_pose_yaw:3.121764898300171 +[2026-10-09 17:43:02.474] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.474] [path_visualizer] [debug] current_cmd_angular_z:0.0001334641484507862 +[2026-10-09 17:43:02.524] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.524] [path_visualizer] [debug] current_pose_x:-1.915287983862777, current_pose_y:1.9753147544144034,current_pose_yaw:3.121764898300171 +[2026-10-09 17:43:02.524] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.524] [path_visualizer] [debug] current_cmd_angular_z:0.0001334641484507862 +[2026-10-09 17:43:02.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.574] [path_visualizer] [debug] current_pose_x:-1.9658346235237065, current_pose_y:1.975330400927713,current_pose_yaw:3.121793031692505 +[2026-10-09 17:43:02.574] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.574] [path_visualizer] [debug] current_cmd_angular_z:0.00011778842091383912 +[2026-10-09 17:43:02.619] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.619] [path_visualizer] [debug] current_pose_x:-1.9658346235237065, current_pose_y:1.975330400927713,current_pose_yaw:3.121793031692505 +[2026-10-09 17:43:02.619] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.619] [path_visualizer] [debug] current_cmd_angular_z:0.00011778842091383912 +[2026-10-09 17:43:02.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.674] [path_visualizer] [debug] current_pose_x:-1.9658346235237065, current_pose_y:1.975330400927713,current_pose_yaw:3.121793031692505 +[2026-10-09 17:43:02.674] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.674] [path_visualizer] [debug] current_cmd_angular_z:0.00011778842091383912 +[2026-10-09 17:43:02.728] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.728] [path_visualizer] [debug] current_pose_x:-2.0163820146016342, current_pose_y:1.975345280338681,current_pose_yaw:3.1218206882476807 +[2026-10-09 17:43:02.728] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.728] [path_visualizer] [debug] current_cmd_angular_z:0.00010138287382852745 +[2026-10-09 17:43:02.771] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.771] [path_visualizer] [debug] current_pose_x:-2.0163820146016342, current_pose_y:1.975345280338681,current_pose_yaw:3.1218206882476807 +[2026-10-09 17:43:02.771] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.772] [path_visualizer] [debug] current_cmd_angular_z:0.00010138287382852745 +[2026-10-09 17:43:02.820] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.820] [path_visualizer] [debug] current_pose_x:-2.0163820146016342, current_pose_y:1.975345280338681,current_pose_yaw:3.1218206882476807 +[2026-10-09 17:43:02.820] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.820] [path_visualizer] [debug] current_cmd_angular_z:0.00010138287382852745 +[2026-10-09 17:43:02.868] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.868] [path_visualizer] [debug] current_pose_x:-2.0669312554328836, current_pose_y:1.9753605329832398,current_pose_yaw:3.1218466758728027 +[2026-10-09 17:43:02.868] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.868] [path_visualizer] [debug] current_cmd_angular_z:8.848854696363873e-05 +[2026-10-09 17:43:02.920] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.920] [path_visualizer] [debug] current_pose_x:-2.0669312554328836, current_pose_y:1.9753605329832398,current_pose_yaw:3.1218466758728027 +[2026-10-09 17:43:02.920] [path_visualizer] [debug] current_path_x:-2.0017571943915318, current_path_y:1.991844795865932,current_path_yaw:-3.141592653179586 +[2026-10-09 17:43:02.920] [path_visualizer] [debug] current_cmd_angular_z:8.848854696363873e-05 +[2026-10-09 17:43:02.976] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:02.976] [path_visualizer] [debug] current_pose_x:-2.1174785973786414, current_pose_y:1.9753767713012969,current_pose_yaw:3.121870756149292 +[2026-10-09 17:43:02.976] [path_visualizer] [debug] current_path_x:-2.1312803952008412, current_path_y:2.0088124074589726,current_path_yaw:3.01069296 +[2026-10-09 17:43:02.976] [path_visualizer] [debug] current_cmd_angular_z:-0.24676627145569235 +[2026-10-09 17:43:03.019] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.019] [path_visualizer] [debug] current_pose_x:-2.1174785973786414, current_pose_y:1.9753767713012969,current_pose_yaw:3.121870756149292 +[2026-10-09 17:43:03.019] [path_visualizer] [debug] current_path_x:-2.1312803952008412, current_path_y:2.0088124074589726,current_path_yaw:3.01069296 +[2026-10-09 17:43:03.019] [path_visualizer] [debug] current_cmd_angular_z:-0.24676627145569235 +[2026-10-09 17:43:03.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.073] [path_visualizer] [debug] current_pose_x:-2.1174785973786414, current_pose_y:1.9753767713012969,current_pose_yaw:3.121870756149292 +[2026-10-09 17:43:03.073] [path_visualizer] [debug] current_path_x:-2.1312803952008412, current_path_y:2.0088124074589726,current_path_yaw:3.01069296 +[2026-10-09 17:43:03.074] [path_visualizer] [debug] current_cmd_angular_z:-0.24676627145569235 +[2026-10-09 17:43:03.118] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.118] [path_visualizer] [debug] current_pose_x:-2.168026163307986, current_pose_y:1.9753919470388002,current_pose_yaw:3.121894598007202 +[2026-10-09 17:43:03.118] [path_visualizer] [debug] current_path_x:-2.1312803952008412, current_path_y:2.0088124074589726,current_path_yaw:3.01069296 +[2026-10-09 17:43:03.118] [path_visualizer] [debug] current_cmd_angular_z:-0.25986241812805744 +[2026-10-09 17:43:03.175] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.175] [path_visualizer] [debug] current_pose_x:-2.168026163307986, current_pose_y:1.9753919470388002,current_pose_yaw:3.121894598007202 +[2026-10-09 17:43:03.175] [path_visualizer] [debug] current_path_x:-2.1312803952008412, current_path_y:2.0088124074589726,current_path_yaw:3.01069296 +[2026-10-09 17:43:03.175] [path_visualizer] [debug] current_cmd_angular_z:-0.25986241812805744 +[2026-10-09 17:43:03.220] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.220] [path_visualizer] [debug] current_pose_x:-2.2185199256675348, current_pose_y:1.9815515303039684,current_pose_yaw:3.1164638996124268 +[2026-10-09 17:43:03.220] [path_visualizer] [debug] current_path_x:-2.2608035960101502, current_path_y:2.025780019052013,current_path_yaw:2.879793266 +[2026-10-09 17:43:03.220] [path_visualizer] [debug] current_cmd_angular_z:-0.4559742379456909 +[2026-10-09 17:43:03.277] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.277] [path_visualizer] [debug] current_pose_x:-2.2185199256675348, current_pose_y:1.9815515303039684,current_pose_yaw:3.1164638996124268 +[2026-10-09 17:43:03.277] [path_visualizer] [debug] current_path_x:-2.2608035960101502, current_path_y:2.025780019052013,current_path_yaw:2.879793266 +[2026-10-09 17:43:03.277] [path_visualizer] [debug] current_cmd_angular_z:-0.4559742379456909 +[2026-10-09 17:43:03.320] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.320] [path_visualizer] [debug] current_pose_x:-2.2185199256675348, current_pose_y:1.9815515303039684,current_pose_yaw:3.1164638996124268 +[2026-10-09 17:43:03.320] [path_visualizer] [debug] current_path_x:-2.2608035960101502, current_path_y:2.025780019052013,current_path_yaw:2.879793266 +[2026-10-09 17:43:03.320] [path_visualizer] [debug] current_cmd_angular_z:-0.4559742379456909 +[2026-10-09 17:43:03.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.375] [path_visualizer] [debug] current_pose_x:-2.2689217192857325, current_pose_y:1.9923865754344203,current_pose_yaw:3.107182025909424 +[2026-10-09 17:43:03.375] [path_visualizer] [debug] current_path_x:-2.2608035960101502, current_path_y:2.025780019052013,current_path_yaw:2.879793266 +[2026-10-09 17:43:03.375] [path_visualizer] [debug] current_cmd_angular_z:-0.44567904194517644 +[2026-10-09 17:43:03.418] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.418] [path_visualizer] [debug] current_pose_x:-2.2689217192857325, current_pose_y:1.9923865754344203,current_pose_yaw:3.107182025909424 +[2026-10-09 17:43:03.418] [path_visualizer] [debug] current_path_x:-2.2608035960101502, current_path_y:2.025780019052013,current_path_yaw:2.879793266 +[2026-10-09 17:43:03.418] [path_visualizer] [debug] current_cmd_angular_z:-0.44567904194517644 +[2026-10-09 17:43:03.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.473] [path_visualizer] [debug] current_pose_x:-2.2689217192857325, current_pose_y:1.9923865754344203,current_pose_yaw:3.107182025909424 +[2026-10-09 17:43:03.473] [path_visualizer] [debug] current_path_x:-2.2608035960101502, current_path_y:2.025780019052013,current_path_yaw:2.879793266 +[2026-10-09 17:43:03.473] [path_visualizer] [debug] current_cmd_angular_z:-0.44567904194517644 +[2026-10-09 17:43:03.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.525] [path_visualizer] [debug] current_pose_x:-2.319041167690723, current_pose_y:2.0099465874779248,current_pose_yaw:3.092388153076172 +[2026-10-09 17:43:03.525] [path_visualizer] [debug] current_path_x:-2.2608035960101502, current_path_y:2.025780019052013,current_path_yaw:2.879793266 +[2026-10-09 17:43:03.525] [path_visualizer] [debug] current_cmd_angular_z:-0.41320315104358674 +[2026-10-09 17:43:03.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.573] [path_visualizer] [debug] current_pose_x:-2.319041167690723, current_pose_y:2.0099465874779248,current_pose_yaw:3.092388153076172 +[2026-10-09 17:43:03.573] [path_visualizer] [debug] current_path_x:-2.2608035960101502, current_path_y:2.025780019052013,current_path_yaw:2.879793266 +[2026-10-09 17:43:03.573] [path_visualizer] [debug] current_cmd_angular_z:-0.41320315104358674 +[2026-10-09 17:43:03.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.625] [path_visualizer] [debug] current_pose_x:-2.3689139663951955, current_pose_y:2.028480379659716,current_pose_yaw:3.077415943145752 +[2026-10-09 17:43:03.625] [path_visualizer] [debug] current_path_x:-2.381500016989178, current_path_y:2.075526587799156,current_path_yaw:2.748893572 +[2026-10-09 17:43:03.625] [path_visualizer] [debug] current_cmd_angular_z:-0.6221040627319785 +[2026-10-09 17:43:03.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.673] [path_visualizer] [debug] current_pose_x:-2.3689139663951955, current_pose_y:2.028480379659716,current_pose_yaw:3.077415943145752 +[2026-10-09 17:43:03.673] [path_visualizer] [debug] current_path_x:-2.381500016989178, current_path_y:2.075526587799156,current_path_yaw:2.748893572 +[2026-10-09 17:43:03.673] [path_visualizer] [debug] current_cmd_angular_z:-0.6221040627319785 +[2026-10-09 17:43:03.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.722] [path_visualizer] [debug] current_pose_x:-2.3689139663951955, current_pose_y:2.028480379659716,current_pose_yaw:3.077415943145752 +[2026-10-09 17:43:03.722] [path_visualizer] [debug] current_path_x:-2.381500016989178, current_path_y:2.075526587799156,current_path_yaw:2.748893572 +[2026-10-09 17:43:03.722] [path_visualizer] [debug] current_cmd_angular_z:-0.6221040627319785 +[2026-10-09 17:43:03.770] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.770] [path_visualizer] [debug] current_pose_x:-2.4185784745474015, current_pose_y:2.046846438889049,current_pose_yaw:3.063262701034546 +[2026-10-09 17:43:03.770] [path_visualizer] [debug] current_path_x:-2.381500016989178, current_path_y:2.075526587799156,current_path_yaw:2.748893572 +[2026-10-09 17:43:03.770] [path_visualizer] [debug] current_cmd_angular_z:-0.602647207939882 +[2026-10-09 17:43:03.826] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.826] [path_visualizer] [debug] current_pose_x:-2.4185784745474015, current_pose_y:2.046846438889049,current_pose_yaw:3.063262701034546 +[2026-10-09 17:43:03.826] [path_visualizer] [debug] current_path_x:-2.381500016989178, current_path_y:2.075526587799156,current_path_yaw:2.748893572 +[2026-10-09 17:43:03.826] [path_visualizer] [debug] current_cmd_angular_z:-0.602647207939882 +[2026-10-09 17:43:03.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.871] [path_visualizer] [debug] current_pose_x:-2.4185784745474015, current_pose_y:2.046846438889049,current_pose_yaw:3.063262701034546 +[2026-10-09 17:43:03.871] [path_visualizer] [debug] current_path_x:-2.381500016989178, current_path_y:2.075526587799156,current_path_yaw:2.748893572 +[2026-10-09 17:43:03.871] [path_visualizer] [debug] current_cmd_angular_z:-0.602647207939882 +[2026-10-09 17:43:03.926] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.926] [path_visualizer] [debug] current_pose_x:-2.4675296114090903, current_pose_y:2.071360941637672,current_pose_yaw:3.0442450046539307 +[2026-10-09 17:43:03.926] [path_visualizer] [debug] current_path_x:-2.5021964379682053, current_path_y:2.1252731565462994,current_path_yaw:2.617993878 +[2026-10-09 17:43:03.926] [path_visualizer] [debug] current_cmd_angular_z:-0.7659318189893991 +[2026-10-09 17:43:03.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:03.974] [path_visualizer] [debug] current_pose_x:-2.4675296114090903, current_pose_y:2.071360941637672,current_pose_yaw:3.0442450046539307 +[2026-10-09 17:43:03.974] [path_visualizer] [debug] current_path_x:-2.5021964379682053, current_path_y:2.1252731565462994,current_path_yaw:2.617993878 +[2026-10-09 17:43:03.974] [path_visualizer] [debug] current_cmd_angular_z:-0.7659318189893991 +[2026-10-09 17:43:04.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.025] [path_visualizer] [debug] current_pose_x:-2.5158662381161214, current_pose_y:2.098208408292864,current_pose_yaw:3.023989200592041 +[2026-10-09 17:43:04.025] [path_visualizer] [debug] current_path_x:-2.5021964379682053, current_path_y:2.1252731565462994,current_path_yaw:2.617993878 +[2026-10-09 17:43:04.025] [path_visualizer] [debug] current_cmd_angular_z:-0.7341213323524487 +[2026-10-09 17:43:04.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.073] [path_visualizer] [debug] current_pose_x:-2.5158662381161214, current_pose_y:2.098208408292864,current_pose_yaw:3.023989200592041 +[2026-10-09 17:43:04.073] [path_visualizer] [debug] current_path_x:-2.5021964379682053, current_path_y:2.1252731565462994,current_path_yaw:2.617993878 +[2026-10-09 17:43:04.073] [path_visualizer] [debug] current_cmd_angular_z:-0.7341213323524487 +[2026-10-09 17:43:04.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.125] [path_visualizer] [debug] current_pose_x:-2.5158662381161214, current_pose_y:2.098208408292864,current_pose_yaw:3.023989200592041 +[2026-10-09 17:43:04.125] [path_visualizer] [debug] current_path_x:-2.5021964379682053, current_path_y:2.1252731565462994,current_path_yaw:2.617993878 +[2026-10-09 17:43:04.125] [path_visualizer] [debug] current_cmd_angular_z:-0.7341213323524487 +[2026-10-09 17:43:04.174] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.174] [path_visualizer] [debug] current_pose_x:-2.5632250736184297, current_pose_y:2.1294433550711966,current_pose_yaw:3.000671863555908 +[2026-10-09 17:43:04.174] [path_visualizer] [debug] current_path_x:-2.5021964379682053, current_path_y:2.1252731565462994,current_path_yaw:2.617993878 +[2026-10-09 17:43:04.174] [path_visualizer] [debug] current_cmd_angular_z:-0.6887215990801192 +[2026-10-09 17:43:04.224] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.224] [path_visualizer] [debug] current_pose_x:-2.5632250736184297, current_pose_y:2.1294433550711966,current_pose_yaw:3.000671863555908 +[2026-10-09 17:43:04.224] [path_visualizer] [debug] current_path_x:-2.5021964379682053, current_path_y:2.1252731565462994,current_path_yaw:2.617993878 +[2026-10-09 17:43:04.224] [path_visualizer] [debug] current_cmd_angular_z:-0.6887215990801192 +[2026-10-09 17:43:04.275] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.275] [path_visualizer] [debug] current_pose_x:-2.6096265858069576, current_pose_y:2.1633359231383404,current_pose_yaw:2.9759929180145264 +[2026-10-09 17:43:04.275] [path_visualizer] [debug] current_path_x:-2.605840791925444, current_path_y:2.204408465434311,current_path_yaw:2.487094184 +[2026-10-09 17:43:04.275] [path_visualizer] [debug] current_cmd_angular_z:-0.8809217171610206 +[2026-10-09 17:43:04.324] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.324] [path_visualizer] [debug] current_pose_x:-2.6096265858069576, current_pose_y:2.1633359231383404,current_pose_yaw:2.9759929180145264 +[2026-10-09 17:43:04.324] [path_visualizer] [debug] current_path_x:-2.605840791925444, current_path_y:2.204408465434311,current_path_yaw:2.487094184 +[2026-10-09 17:43:04.324] [path_visualizer] [debug] current_cmd_angular_z:-0.8809217171610206 +[2026-10-09 17:43:04.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.374] [path_visualizer] [debug] current_pose_x:-2.6096265858069576, current_pose_y:2.1633359231383404,current_pose_yaw:2.9759929180145264 +[2026-10-09 17:43:04.374] [path_visualizer] [debug] current_path_x:-2.605840791925444, current_path_y:2.204408465434311,current_path_yaw:2.487094184 +[2026-10-09 17:43:04.374] [path_visualizer] [debug] current_cmd_angular_z:-0.8809217171610206 +[2026-10-09 17:43:04.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.425] [path_visualizer] [debug] current_pose_x:-2.6555088182917106, current_pose_y:2.1971496322850133,current_pose_yaw:2.952449321746826 +[2026-10-09 17:43:04.425] [path_visualizer] [debug] current_path_x:-2.605840791925444, current_path_y:2.204408465434311,current_path_yaw:2.487094184 +[2026-10-09 17:43:04.426] [path_visualizer] [debug] current_cmd_angular_z:-0.844024180237512 +[2026-10-09 17:43:04.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.474] [path_visualizer] [debug] current_pose_x:-2.6555088182917106, current_pose_y:2.1971496322850133,current_pose_yaw:2.952449321746826 +[2026-10-09 17:43:04.474] [path_visualizer] [debug] current_path_x:-2.605840791925444, current_path_y:2.204408465434311,current_path_yaw:2.487094184 +[2026-10-09 17:43:04.474] [path_visualizer] [debug] current_cmd_angular_z:-0.844024180237512 +[2026-10-09 17:43:04.521] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.521] [path_visualizer] [debug] current_pose_x:-2.699599308699235, current_pose_y:2.2370305568349607,current_pose_yaw:2.9243602752685547 +[2026-10-09 17:43:04.521] [path_visualizer] [debug] current_path_x:-2.709485145882683, current_path_y:2.2835437743223226,current_path_yaw:2.35619449 +[2026-10-09 17:43:04.521] [path_visualizer] [debug] current_cmd_angular_z:-0.9946972770390672 +[2026-10-09 17:43:04.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.574] [path_visualizer] [debug] current_pose_x:-2.699599308699235, current_pose_y:2.2370305568349607,current_pose_yaw:2.9243602752685547 +[2026-10-09 17:43:04.574] [path_visualizer] [debug] current_path_x:-2.709485145882683, current_path_y:2.2835437743223226,current_path_yaw:2.35619449 +[2026-10-09 17:43:04.574] [path_visualizer] [debug] current_cmd_angular_z:-0.9946972770390672 +[2026-10-09 17:43:04.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.624] [path_visualizer] [debug] current_pose_x:-2.699599308699235, current_pose_y:2.2370305568349607,current_pose_yaw:2.9243602752685547 +[2026-10-09 17:43:04.624] [path_visualizer] [debug] current_path_x:-2.709485145882683, current_path_y:2.2835437743223226,current_path_yaw:2.35619449 +[2026-10-09 17:43:04.624] [path_visualizer] [debug] current_cmd_angular_z:-0.9946972770390672 +[2026-10-09 17:43:04.672] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.672] [path_visualizer] [debug] current_pose_x:-2.7422716606072957, current_pose_y:2.2791254004613952,current_pose_yaw:2.8954126834869385 +[2026-10-09 17:43:04.672] [path_visualizer] [debug] current_path_x:-2.709485145882683, current_path_y:2.2835437743223226,current_path_yaw:2.35619449 +[2026-10-09 17:43:04.672] [path_visualizer] [debug] current_cmd_angular_z:-0.9474454940730949 +[2026-10-09 17:43:04.725] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.725] [path_visualizer] [debug] current_pose_x:-2.7422716606072957, current_pose_y:2.2791254004613952,current_pose_yaw:2.8954126834869385 +[2026-10-09 17:43:04.725] [path_visualizer] [debug] current_path_x:-2.709485145882683, current_path_y:2.2835437743223226,current_path_yaw:2.35619449 +[2026-10-09 17:43:04.725] [path_visualizer] [debug] current_cmd_angular_z:-0.9474454940730949 +[2026-10-09 17:43:04.775] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.775] [path_visualizer] [debug] current_pose_x:-2.7422716606072957, current_pose_y:2.2791254004613952,current_pose_yaw:2.8954126834869385 +[2026-10-09 17:43:04.775] [path_visualizer] [debug] current_path_x:-2.709485145882683, current_path_y:2.2835437743223226,current_path_yaw:2.35619449 +[2026-10-09 17:43:04.775] [path_visualizer] [debug] current_cmd_angular_z:-0.9474454940730949 +[2026-10-09 17:43:04.821] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.821] [path_visualizer] [debug] current_pose_x:-2.782785392656831, current_pose_y:2.327010597066364,current_pose_yaw:2.8623664379119873 +[2026-10-09 17:43:04.821] [path_visualizer] [debug] current_path_x:-2.789014264038932, current_path_y:2.386674931612669,current_path_yaw:2.225294796 +[2026-10-09 17:43:04.821] [path_visualizer] [debug] current_cmd_angular_z:-1.1199715080642767 +[2026-10-09 17:43:04.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.874] [path_visualizer] [debug] current_pose_x:-2.782785392656831, current_pose_y:2.327010597066364,current_pose_yaw:2.8623664379119873 +[2026-10-09 17:43:04.874] [path_visualizer] [debug] current_path_x:-2.789014264038932, current_path_y:2.386674931612669,current_path_yaw:2.225294796 +[2026-10-09 17:43:04.874] [path_visualizer] [debug] current_cmd_angular_z:-1.1199715080642767 +[2026-10-09 17:43:04.924] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.924] [path_visualizer] [debug] current_pose_x:-2.8218944884362, current_pose_y:2.3748209874447226,current_pose_yaw:2.830575466156006 +[2026-10-09 17:43:04.924] [path_visualizer] [debug] current_path_x:-2.789014264038932, current_path_y:2.386674931612669,current_path_yaw:2.225294796 +[2026-10-09 17:43:04.924] [path_visualizer] [debug] current_cmd_angular_z:-1.071001509727465 +[2026-10-09 17:43:04.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:04.973] [path_visualizer] [debug] current_pose_x:-2.8218944884362, current_pose_y:2.3748209874447226,current_pose_yaw:2.830575466156006 +[2026-10-09 17:43:04.973] [path_visualizer] [debug] current_path_x:-2.789014264038932, current_path_y:2.386674931612669,current_path_yaw:2.225294796 +[2026-10-09 17:43:04.973] [path_visualizer] [debug] current_cmd_angular_z:-1.071001509727465 +[2026-10-09 17:43:05.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.025] [path_visualizer] [debug] current_pose_x:-2.8218944884362, current_pose_y:2.3748209874447226,current_pose_yaw:2.830575466156006 +[2026-10-09 17:43:05.025] [path_visualizer] [debug] current_path_x:-2.789014264038932, current_path_y:2.386674931612669,current_path_yaw:2.225294796 +[2026-10-09 17:43:05.025] [path_visualizer] [debug] current_cmd_angular_z:-1.071001509727465 +[2026-10-09 17:43:05.068] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.068] [path_visualizer] [debug] current_pose_x:-2.85856250474449, current_pose_y:2.428355299760402,current_pose_yaw:2.7947256565093994 +[2026-10-09 17:43:05.068] [path_visualizer] [debug] current_path_x:-2.868543382195181, current_path_y:2.489806088903016,current_path_yaw:2.094395102 +[2026-10-09 17:43:05.069] [path_visualizer] [debug] current_cmd_angular_z:-1.2065583462099636 +[2026-10-09 17:43:05.124] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.124] [path_visualizer] [debug] current_pose_x:-2.85856250474449, current_pose_y:2.428355299760402,current_pose_yaw:2.7947256565093994 +[2026-10-09 17:43:05.124] [path_visualizer] [debug] current_path_x:-2.868543382195181, current_path_y:2.489806088903016,current_path_yaw:2.094395102 +[2026-10-09 17:43:05.124] [path_visualizer] [debug] current_cmd_angular_z:-1.2065583462099636 +[2026-10-09 17:43:05.172] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.172] [path_visualizer] [debug] current_pose_x:-2.8933306799225766, current_pose_y:2.482812065051863,current_pose_yaw:2.7592170238494873 +[2026-10-09 17:43:05.172] [path_visualizer] [debug] current_path_x:-2.868543382195181, current_path_y:2.489806088903016,current_path_yaw:2.094395102 +[2026-10-09 17:43:05.172] [path_visualizer] [debug] current_cmd_angular_z:-1.1533190928971937 +[2026-10-09 17:43:05.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.225] [path_visualizer] [debug] current_pose_x:-2.8933306799225766, current_pose_y:2.482812065051863,current_pose_yaw:2.7592170238494873 +[2026-10-09 17:43:05.225] [path_visualizer] [debug] current_path_x:-2.868543382195181, current_path_y:2.489806088903016,current_path_yaw:2.094395102 +[2026-10-09 17:43:05.225] [path_visualizer] [debug] current_cmd_angular_z:-1.1533190928971937 +[2026-10-09 17:43:05.277] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.277] [path_visualizer] [debug] current_pose_x:-2.8933306799225766, current_pose_y:2.482812065051863,current_pose_yaw:2.7592170238494873 +[2026-10-09 17:43:05.277] [path_visualizer] [debug] current_path_x:-2.868543382195181, current_path_y:2.489806088903016,current_path_yaw:2.094395102 +[2026-10-09 17:43:05.277] [path_visualizer] [debug] current_cmd_angular_z:-1.1533190928971937 +[2026-10-09 17:43:05.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.325] [path_visualizer] [debug] current_pose_x:-2.9251421629154506, current_pose_y:2.541813695218979,current_pose_yaw:2.7206268310546875 +[2026-10-09 17:43:05.325] [path_visualizer] [debug] current_path_x:-2.9185374027903777, current_path_y:2.6099048809637786,current_path_yaw:1.9634954085 +[2026-10-09 17:43:05.326] [path_visualizer] [debug] current_cmd_angular_z:-1.3208535550130684 +[2026-10-09 17:43:05.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.374] [path_visualizer] [debug] current_pose_x:-2.9251421629154506, current_pose_y:2.541813695218979,current_pose_yaw:2.7206268310546875 +[2026-10-09 17:43:05.374] [path_visualizer] [debug] current_path_x:-2.9185374027903777, current_path_y:2.6099048809637786,current_path_yaw:1.9634954085 +[2026-10-09 17:43:05.374] [path_visualizer] [debug] current_cmd_angular_z:-1.3208535550130684 +[2026-10-09 17:43:05.426] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.426] [path_visualizer] [debug] current_pose_x:-2.9251421629154506, current_pose_y:2.541813695218979,current_pose_yaw:2.7206268310546875 +[2026-10-09 17:43:05.426] [path_visualizer] [debug] current_path_x:-2.9185374027903777, current_path_y:2.6099048809637786,current_path_yaw:1.9634954085 +[2026-10-09 17:43:05.426] [path_visualizer] [debug] current_cmd_angular_z:-1.3208535550130684 +[2026-10-09 17:43:05.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.472] [path_visualizer] [debug] current_pose_x:-2.954806296945212, current_pose_y:2.6013534062825836,current_pose_yaw:2.682626962661743 +[2026-10-09 17:43:05.472] [path_visualizer] [debug] current_path_x:-2.9185374027903777, current_path_y:2.6099048809637786,current_path_yaw:1.9634954085 +[2026-10-09 17:43:05.472] [path_visualizer] [debug] current_cmd_angular_z:-1.266928288650807 +[2026-10-09 17:43:05.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.525] [path_visualizer] [debug] current_pose_x:-2.954806296945212, current_pose_y:2.6013534062825836,current_pose_yaw:2.682626962661743 +[2026-10-09 17:43:05.525] [path_visualizer] [debug] current_path_x:-2.9185374027903777, current_path_y:2.6099048809637786,current_path_yaw:1.9634954085 +[2026-10-09 17:43:05.525] [path_visualizer] [debug] current_cmd_angular_z:-1.266928288650807 +[2026-10-09 17:43:05.575] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.576] [path_visualizer] [debug] current_pose_x:-2.9804104498052286, current_pose_y:2.6658025178811453,current_pose_yaw:2.640878438949585 +[2026-10-09 17:43:05.576] [path_visualizer] [debug] current_path_x:-2.9685314233855746, current_path_y:2.730003673024541,current_path_yaw:1.832595715 +[2026-10-09 17:43:05.576] [path_visualizer] [debug] current_cmd_angular_z:-1.3977102185419046 +[2026-10-09 17:43:05.627] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.627] [path_visualizer] [debug] current_pose_x:-2.9804104498052286, current_pose_y:2.6658025178811453,current_pose_yaw:2.640878438949585 +[2026-10-09 17:43:05.627] [path_visualizer] [debug] current_path_x:-2.9685314233855746, current_path_y:2.730003673024541,current_path_yaw:1.832595715 +[2026-10-09 17:43:05.627] [path_visualizer] [debug] current_cmd_angular_z:-1.3977102185419046 +[2026-10-09 17:43:05.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.674] [path_visualizer] [debug] current_pose_x:-2.9804104498052286, current_pose_y:2.6658025178811453,current_pose_yaw:2.640878438949585 +[2026-10-09 17:43:05.674] [path_visualizer] [debug] current_path_x:-2.9685314233855746, current_path_y:2.730003673024541,current_path_yaw:1.832595715 +[2026-10-09 17:43:05.674] [path_visualizer] [debug] current_cmd_angular_z:-1.3977102185419046 +[2026-10-09 17:43:05.724] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.724] [path_visualizer] [debug] current_pose_x:-3.0034597541366344, current_pose_y:2.7307394695104983,current_pose_yaw:2.599630355834961 +[2026-10-09 17:43:05.724] [path_visualizer] [debug] current_path_x:-2.9685314233855746, current_path_y:2.730003673024541,current_path_yaw:1.832595715 +[2026-10-09 17:43:05.724] [path_visualizer] [debug] current_cmd_angular_z:-1.3400496533842499 +[2026-10-09 17:43:05.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.774] [path_visualizer] [debug] current_pose_x:-3.0034597541366344, current_pose_y:2.7307394695104983,current_pose_yaw:2.599630355834961 +[2026-10-09 17:43:05.774] [path_visualizer] [debug] current_path_x:-2.9685314233855746, current_path_y:2.730003673024541,current_path_yaw:1.832595715 +[2026-10-09 17:43:05.774] [path_visualizer] [debug] current_cmd_angular_z:-1.3400496533842499 +[2026-10-09 17:43:05.824] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.824] [path_visualizer] [debug] current_pose_x:-3.0034597541366344, current_pose_y:2.7307394695104983,current_pose_yaw:2.599630355834961 +[2026-10-09 17:43:05.824] [path_visualizer] [debug] current_path_x:-2.9685314233855746, current_path_y:2.730003673024541,current_path_yaw:1.832595715 +[2026-10-09 17:43:05.824] [path_visualizer] [debug] current_cmd_angular_z:-1.3400496533842499 +[2026-10-09 17:43:05.869] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.869] [path_visualizer] [debug] current_pose_x:-3.021834280640581, current_pose_y:2.799332589432456,current_pose_yaw:2.5553805828094482 +[2026-10-09 17:43:05.869] [path_visualizer] [debug] current_path_x:-2.9855834437227182, current_path_y:2.858885503564773,current_path_yaw:1.701696021 +[2026-10-09 17:43:05.869] [path_visualizer] [debug] current_cmd_angular_z:-1.5040788670322958 +[2026-10-09 17:43:05.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.925] [path_visualizer] [debug] current_pose_x:-3.021834280640581, current_pose_y:2.799332589432456,current_pose_yaw:2.5553805828094482 +[2026-10-09 17:43:05.925] [path_visualizer] [debug] current_path_x:-2.9855834437227182, current_path_y:2.858885503564773,current_path_yaw:1.701696021 +[2026-10-09 17:43:05.925] [path_visualizer] [debug] current_cmd_angular_z:-1.5040788670322958 +[2026-10-09 17:43:05.969] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:05.969] [path_visualizer] [debug] current_pose_x:-3.03766957476795, current_pose_y:2.8675597394467243,current_pose_yaw:2.5122194290161133 +[2026-10-09 17:43:05.969] [path_visualizer] [debug] current_path_x:-2.9855834437227182, current_path_y:2.858885503564773,current_path_yaw:1.701696021 +[2026-10-09 17:43:05.969] [path_visualizer] [debug] current_cmd_angular_z:-1.44589468477369 +[2026-10-09 17:43:06.024] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.024] [path_visualizer] [debug] current_pose_x:-3.03766957476795, current_pose_y:2.8675597394467243,current_pose_yaw:2.5122194290161133 +[2026-10-09 17:43:06.024] [path_visualizer] [debug] current_path_x:-2.9855834437227182, current_path_y:2.858885503564773,current_path_yaw:1.701696021 +[2026-10-09 17:43:06.024] [path_visualizer] [debug] current_cmd_angular_z:-1.44589468477369 +[2026-10-09 17:43:06.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.074] [path_visualizer] [debug] current_pose_x:-3.03766957476795, current_pose_y:2.8675597394467243,current_pose_yaw:2.5122194290161133 +[2026-10-09 17:43:06.074] [path_visualizer] [debug] current_path_x:-2.9855834437227182, current_path_y:2.858885503564773,current_path_yaw:1.701696021 +[2026-10-09 17:43:06.074] [path_visualizer] [debug] current_cmd_angular_z:-1.44589468477369 +[2026-10-09 17:43:06.120] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.120] [path_visualizer] [debug] current_pose_x:-3.0487249045605163, current_pose_y:2.9383775818126754,current_pose_yaw:2.4666757583618164 +[2026-10-09 17:43:06.120] [path_visualizer] [debug] current_path_x:-3.0026354640598623, current_path_y:2.987767334105005,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.120] [path_visualizer] [debug] current_cmd_angular_z:-1.5788468335085166 +[2026-10-09 17:43:06.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.169] [path_visualizer] [debug] current_pose_x:-3.0487249045605163, current_pose_y:2.9383775818126754,current_pose_yaw:2.4666757583618164 +[2026-10-09 17:43:06.169] [path_visualizer] [debug] current_path_x:-3.0026354640598623, current_path_y:2.987767334105005,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.169] [path_visualizer] [debug] current_cmd_angular_z:-1.5788468335085166 +[2026-10-09 17:43:06.226] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.226] [path_visualizer] [debug] current_pose_x:-3.056160491744067, current_pose_y:3.010003072287637,current_pose_yaw:2.420764207839966 +[2026-10-09 17:43:06.226] [path_visualizer] [debug] current_path_x:-3.0026354640598623, current_path_y:2.987767334105005,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.226] [path_visualizer] [debug] current_cmd_angular_z:-1.5173679460891494 +[2026-10-09 17:43:06.271] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.271] [path_visualizer] [debug] current_pose_x:-3.056160491744067, current_pose_y:3.010003072287637,current_pose_yaw:2.420764207839966 +[2026-10-09 17:43:06.271] [path_visualizer] [debug] current_path_x:-3.0026354640598623, current_path_y:2.987767334105005,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.271] [path_visualizer] [debug] current_cmd_angular_z:-1.5173679460891494 +[2026-10-09 17:43:06.334] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.334] [path_visualizer] [debug] current_pose_x:-3.056160491744067, current_pose_y:3.010003072287637,current_pose_yaw:2.420764207839966 +[2026-10-09 17:43:06.334] [path_visualizer] [debug] current_path_x:-3.0026354640598623, current_path_y:2.987767334105005,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.334] [path_visualizer] [debug] current_cmd_angular_z:-1.5173679460891494 +[2026-10-09 17:43:06.368] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.368] [path_visualizer] [debug] current_pose_x:-3.0580510137130825, current_pose_y:3.084598159468329,current_pose_yaw:2.3718318939208984 +[2026-10-09 17:43:06.368] [path_visualizer] [debug] current_path_x:-3.0026354640598623, current_path_y:2.987767334105005,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.368] [path_visualizer] [debug] current_cmd_angular_z:-1.4398752894200881 +[2026-10-09 17:43:06.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.425] [path_visualizer] [debug] current_pose_x:-3.0580510137130825, current_pose_y:3.084598159468329,current_pose_yaw:2.3718318939208984 +[2026-10-09 17:43:06.425] [path_visualizer] [debug] current_path_x:-3.0026354640598623, current_path_y:2.987767334105005,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.425] [path_visualizer] [debug] current_cmd_angular_z:-1.4398752894200881 +[2026-10-09 17:43:06.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.473] [path_visualizer] [debug] current_pose_x:-3.0580510137130825, current_pose_y:3.084598159468329,current_pose_yaw:2.3718318939208984 +[2026-10-09 17:43:06.473] [path_visualizer] [debug] current_path_x:-3.0026354640598623, current_path_y:2.987767334105005,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.473] [path_visualizer] [debug] current_cmd_angular_z:-1.4398752894200881 +[2026-10-09 17:43:06.520] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.520] [path_visualizer] [debug] current_pose_x:-3.0572724946510217, current_pose_y:3.1581898328647178,current_pose_yaw:2.3240842819213867 +[2026-10-09 17:43:06.520] [path_visualizer] [debug] current_path_x:-3.002635408210706, current_path_y:3.1869517914241525,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.520] [path_visualizer] [debug] current_cmd_angular_z:-1.3590557828470895 +[2026-10-09 17:43:06.568] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.568] [path_visualizer] [debug] current_pose_x:-3.0572724946510217, current_pose_y:3.1581898328647178,current_pose_yaw:2.3240842819213867 +[2026-10-09 17:43:06.568] [path_visualizer] [debug] current_path_x:-3.002635408210706, current_path_y:3.1869517914241525,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.568] [path_visualizer] [debug] current_cmd_angular_z:-1.3590557828470895 +[2026-10-09 17:43:06.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.625] [path_visualizer] [debug] current_pose_x:-3.054642885781967, current_pose_y:3.2301331861405,current_pose_yaw:2.2782976627349854 +[2026-10-09 17:43:06.625] [path_visualizer] [debug] current_path_x:-3.002635408210706, current_path_y:3.1869517914241525,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.625] [path_visualizer] [debug] current_cmd_angular_z:-1.2778204518108573 +[2026-10-09 17:43:06.669] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.669] [path_visualizer] [debug] current_pose_x:-3.054642885781967, current_pose_y:3.2301331861405,current_pose_yaw:2.2782976627349854 +[2026-10-09 17:43:06.669] [path_visualizer] [debug] current_path_x:-3.002635408210706, current_path_y:3.1869517914241525,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.669] [path_visualizer] [debug] current_cmd_angular_z:-1.2778204518108573 +[2026-10-09 17:43:06.721] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.721] [path_visualizer] [debug] current_pose_x:-3.054642885781967, current_pose_y:3.2301331861405,current_pose_yaw:2.2782976627349854 +[2026-10-09 17:43:06.721] [path_visualizer] [debug] current_path_x:-3.002635408210706, current_path_y:3.1869517914241525,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.721] [path_visualizer] [debug] current_cmd_angular_z:-1.2778204518108573 +[2026-10-09 17:43:06.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.774] [path_visualizer] [debug] current_pose_x:-3.050085993420182, current_pose_y:3.3007349537519874,current_pose_yaw:2.2340760231018066 +[2026-10-09 17:43:06.774] [path_visualizer] [debug] current_path_x:-3.002635352361549, current_path_y:3.3861362487433,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.774] [path_visualizer] [debug] current_cmd_angular_z:-1.1953608896056949 +[2026-10-09 17:43:06.819] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.819] [path_visualizer] [debug] current_pose_x:-3.050085993420182, current_pose_y:3.3007349537519874,current_pose_yaw:2.2340760231018066 +[2026-10-09 17:43:06.819] [path_visualizer] [debug] current_path_x:-3.002635352361549, current_path_y:3.3861362487433,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.819] [path_visualizer] [debug] current_cmd_angular_z:-1.1953608896056949 +[2026-10-09 17:43:06.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.874] [path_visualizer] [debug] current_pose_x:-3.044818155686881, current_pose_y:3.3692362838133527,current_pose_yaw:2.192504405975342 +[2026-10-09 17:43:06.874] [path_visualizer] [debug] current_path_x:-3.002635352361549, current_path_y:3.3861362487433,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.874] [path_visualizer] [debug] current_cmd_angular_z:-1.1158909259988494 +[2026-10-09 17:43:06.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.925] [path_visualizer] [debug] current_pose_x:-3.044818155686881, current_pose_y:3.3692362838133527,current_pose_yaw:2.192504405975342 +[2026-10-09 17:43:06.925] [path_visualizer] [debug] current_path_x:-3.002635352361549, current_path_y:3.3861362487433,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.925] [path_visualizer] [debug] current_cmd_angular_z:-1.1158909259988494 +[2026-10-09 17:43:06.976] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:06.976] [path_visualizer] [debug] current_pose_x:-3.044818155686881, current_pose_y:3.3692362838133527,current_pose_yaw:2.192504405975342 +[2026-10-09 17:43:06.976] [path_visualizer] [debug] current_path_x:-3.002635352361549, current_path_y:3.3861362487433,current_path_yaw:1.570796327 +[2026-10-09 17:43:06.976] [path_visualizer] [debug] current_cmd_angular_z:-1.1158909259988494 +[2026-10-09 17:43:07.026] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.026] [path_visualizer] [debug] current_pose_x:-3.0382003093362155, current_pose_y:3.4364124874540907,current_pose_yaw:2.1525423526763916 +[2026-10-09 17:43:07.026] [path_visualizer] [debug] current_path_x:-3.002635352361549, current_path_y:3.3861362487433,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.026] [path_visualizer] [debug] current_cmd_angular_z:-1.0364156426948028 +[2026-10-09 17:43:07.076] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.076] [path_visualizer] [debug] current_pose_x:-3.0382003093362155, current_pose_y:3.4364124874540907,current_pose_yaw:2.1525423526763916 +[2026-10-09 17:43:07.076] [path_visualizer] [debug] current_path_x:-3.002635352361549, current_path_y:3.3861362487433,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.076] [path_visualizer] [debug] current_cmd_angular_z:-1.0364156426948028 +[2026-10-09 17:43:07.121] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.121] [path_visualizer] [debug] current_pose_x:-3.031436185592215, current_pose_y:3.501648817763728,current_pose_yaw:2.115218162536621 +[2026-10-09 17:43:07.121] [path_visualizer] [debug] current_path_x:-3.0026352965123926, current_path_y:3.5853207060624483,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.121] [path_visualizer] [debug] current_cmd_angular_z:-0.9610299852551774 +[2026-10-09 17:43:07.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.169] [path_visualizer] [debug] current_pose_x:-3.031436185592215, current_pose_y:3.501648817763728,current_pose_yaw:2.115218162536621 +[2026-10-09 17:43:07.169] [path_visualizer] [debug] current_path_x:-3.0026352965123926, current_path_y:3.5853207060624483,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.169] [path_visualizer] [debug] current_cmd_angular_z:-0.9610299852551774 +[2026-10-09 17:43:07.220] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.220] [path_visualizer] [debug] current_pose_x:-3.031436185592215, current_pose_y:3.501648817763728,current_pose_yaw:2.115218162536621 +[2026-10-09 17:43:07.220] [path_visualizer] [debug] current_path_x:-3.0026352965123926, current_path_y:3.5853207060624483,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.220] [path_visualizer] [debug] current_cmd_angular_z:-0.9610299852551774 +[2026-10-09 17:43:07.269] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.269] [path_visualizer] [debug] current_pose_x:-3.0250215250609966, current_pose_y:3.564827708064408,current_pose_yaw:2.0807948112487793 +[2026-10-09 17:43:07.269] [path_visualizer] [debug] current_path_x:-3.0026352965123926, current_path_y:3.5853207060624483,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.269] [path_visualizer] [debug] current_cmd_angular_z:-0.8911536304370605 +[2026-10-09 17:43:07.327] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.327] [path_visualizer] [debug] current_pose_x:-3.0250215250609966, current_pose_y:3.564827708064408,current_pose_yaw:2.0807948112487793 +[2026-10-09 17:43:07.327] [path_visualizer] [debug] current_path_x:-3.0026352965123926, current_path_y:3.5853207060624483,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.327] [path_visualizer] [debug] current_cmd_angular_z:-0.8911536304370605 +[2026-10-09 17:43:07.372] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.372] [path_visualizer] [debug] current_pose_x:-3.0250215250609966, current_pose_y:3.564827708064408,current_pose_yaw:2.0807948112487793 +[2026-10-09 17:43:07.372] [path_visualizer] [debug] current_path_x:-3.0026352965123926, current_path_y:3.5853207060624483,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.372] [path_visualizer] [debug] current_cmd_angular_z:-0.8911536304370605 +[2026-10-09 17:43:07.428] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.428] [path_visualizer] [debug] current_pose_x:-3.018510151940426, current_pose_y:3.6266040821425616,current_pose_yaw:2.0484416484832764 +[2026-10-09 17:43:07.428] [path_visualizer] [debug] current_path_x:-3.0026352965123926, current_path_y:3.5853207060624483,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.428] [path_visualizer] [debug] current_cmd_angular_z:-0.8245225888245705 +[2026-10-09 17:43:07.468] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.468] [path_visualizer] [debug] current_pose_x:-3.018510151940426, current_pose_y:3.6266040821425616,current_pose_yaw:2.0484416484832764 +[2026-10-09 17:43:07.468] [path_visualizer] [debug] current_path_x:-3.0026352965123926, current_path_y:3.5853207060624483,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.468] [path_visualizer] [debug] current_cmd_angular_z:-0.8245225888245705 +[2026-10-09 17:43:07.524] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.524] [path_visualizer] [debug] current_pose_x:-3.0123651770836752, current_pose_y:3.686944297238946,current_pose_yaw:2.018415927886963 +[2026-10-09 17:43:07.524] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.524] [path_visualizer] [debug] current_cmd_angular_z:-0.7624826497566838 +[2026-10-09 17:43:07.568] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.568] [path_visualizer] [debug] current_pose_x:-3.0123651770836752, current_pose_y:3.686944297238946,current_pose_yaw:2.018415927886963 +[2026-10-09 17:43:07.568] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.568] [path_visualizer] [debug] current_cmd_angular_z:-0.7624826497566838 +[2026-10-09 17:43:07.622] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.622] [path_visualizer] [debug] current_pose_x:-3.0123651770836752, current_pose_y:3.686944297238946,current_pose_yaw:2.018415927886963 +[2026-10-09 17:43:07.622] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.622] [path_visualizer] [debug] current_cmd_angular_z:-0.7624826497566838 +[2026-10-09 17:43:07.669] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.669] [path_visualizer] [debug] current_pose_x:-3.0061588081810555, current_pose_y:3.7462494022413644,current_pose_yaw:1.990097165107727 +[2026-10-09 17:43:07.669] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.669] [path_visualizer] [debug] current_cmd_angular_z:-0.703154893098565 +[2026-10-09 17:43:07.725] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.725] [path_visualizer] [debug] current_pose_x:-3.0061588081810555, current_pose_y:3.7462494022413644,current_pose_yaw:1.990097165107727 +[2026-10-09 17:43:07.725] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.725] [path_visualizer] [debug] current_cmd_angular_z:-0.703154893098565 +[2026-10-09 17:43:07.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.774] [path_visualizer] [debug] current_pose_x:-3.0010432430953173, current_pose_y:3.8041399436464127,current_pose_yaw:1.9644280672073364 +[2026-10-09 17:43:07.774] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.774] [path_visualizer] [debug] current_cmd_angular_z:-0.6503899412646594 +[2026-10-09 17:43:07.819] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.819] [path_visualizer] [debug] current_pose_x:-3.0010432430953173, current_pose_y:3.8041399436464127,current_pose_yaw:1.9644280672073364 +[2026-10-09 17:43:07.819] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.819] [path_visualizer] [debug] current_cmd_angular_z:-0.6503899412646594 +[2026-10-09 17:43:07.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.874] [path_visualizer] [debug] current_pose_x:-3.0010432430953173, current_pose_y:3.8041399436464127,current_pose_yaw:1.9644280672073364 +[2026-10-09 17:43:07.874] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.874] [path_visualizer] [debug] current_cmd_angular_z:-0.6503899412646594 +[2026-10-09 17:43:07.927] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.927] [path_visualizer] [debug] current_pose_x:-2.9970001568910436, current_pose_y:3.8608290280905257,current_pose_yaw:1.9411976337432861 +[2026-10-09 17:43:07.927] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.927] [path_visualizer] [debug] current_cmd_angular_z:-0.6038011230891437 +[2026-10-09 17:43:07.977] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:07.977] [path_visualizer] [debug] current_pose_x:-2.9970001568910436, current_pose_y:3.8608290280905257,current_pose_yaw:1.9411976337432861 +[2026-10-09 17:43:07.977] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:07.977] [path_visualizer] [debug] current_cmd_angular_z:-0.6038011230891437 +[2026-10-09 17:43:08.022] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.022] [path_visualizer] [debug] current_pose_x:-2.9970001568910436, current_pose_y:3.8608290280905257,current_pose_yaw:1.9411976337432861 +[2026-10-09 17:43:08.022] [path_visualizer] [debug] current_path_x:-3.0026352406632357, current_path_y:3.784505163381596,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.022] [path_visualizer] [debug] current_cmd_angular_z:-0.6038011230891437 +[2026-10-09 17:43:08.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.074] [path_visualizer] [debug] current_pose_x:-2.9930674133642485, current_pose_y:3.9168575821753873,current_pose_yaw:1.9193024635314941 +[2026-10-09 17:43:08.074] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.074] [path_visualizer] [debug] current_cmd_angular_z:-0.5596482159042173 +[2026-10-09 17:43:08.124] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.124] [path_visualizer] [debug] current_pose_x:-2.9930674133642485, current_pose_y:3.9168575821753873,current_pose_yaw:1.9193024635314941 +[2026-10-09 17:43:08.124] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.124] [path_visualizer] [debug] current_cmd_angular_z:-0.5596482159042173 +[2026-10-09 17:43:08.172] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.172] [path_visualizer] [debug] current_pose_x:-2.9895851286206865, current_pose_y:3.9721844651625826,current_pose_yaw:1.8989758491516116 +[2026-10-09 17:43:08.172] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.172] [path_visualizer] [debug] current_cmd_angular_z:-0.5189929392782582 +[2026-10-09 17:43:08.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.223] [path_visualizer] [debug] current_pose_x:-2.9895851286206865, current_pose_y:3.9721844651625826,current_pose_yaw:1.8989758491516116 +[2026-10-09 17:43:08.223] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.223] [path_visualizer] [debug] current_cmd_angular_z:-0.5189929392782582 +[2026-10-09 17:43:08.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.274] [path_visualizer] [debug] current_pose_x:-2.9895851286206865, current_pose_y:3.9721844651625826,current_pose_yaw:1.8989758491516116 +[2026-10-09 17:43:08.274] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.274] [path_visualizer] [debug] current_cmd_angular_z:-0.5189929392782582 +[2026-10-09 17:43:08.322] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.322] [path_visualizer] [debug] current_pose_x:-2.9861723645832616, current_pose_y:4.027016529680796,current_pose_yaw:1.879763126373291 +[2026-10-09 17:43:08.322] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.322] [path_visualizer] [debug] current_cmd_angular_z:-0.4803249504160122 +[2026-10-09 17:43:08.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.374] [path_visualizer] [debug] current_pose_x:-2.9861723645832616, current_pose_y:4.027016529680796,current_pose_yaw:1.879763126373291 +[2026-10-09 17:43:08.374] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.374] [path_visualizer] [debug] current_cmd_angular_z:-0.4803249504160122 +[2026-10-09 17:43:08.426] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.426] [path_visualizer] [debug] current_pose_x:-2.9861723645832616, current_pose_y:4.027016529680796,current_pose_yaw:1.879763126373291 +[2026-10-09 17:43:08.426] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.426] [path_visualizer] [debug] current_cmd_angular_z:-0.4803249504160122 +[2026-10-09 17:43:08.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.473] [path_visualizer] [debug] current_pose_x:-2.9835995007754814, current_pose_y:4.081164961519946,current_pose_yaw:1.8622920513153076 +[2026-10-09 17:43:08.473] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.473] [path_visualizer] [debug] current_cmd_angular_z:-0.446214527527037 +[2026-10-09 17:43:08.520] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.520] [path_visualizer] [debug] current_pose_x:-2.9835995007754814, current_pose_y:4.081164961519946,current_pose_yaw:1.8622920513153076 +[2026-10-09 17:43:08.520] [path_visualizer] [debug] current_path_x:-3.0026351848140793, current_path_y:3.9836896207007437,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.520] [path_visualizer] [debug] current_cmd_angular_z:-0.446214527527037 +[2026-10-09 17:43:08.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.573] [path_visualizer] [debug] current_pose_x:-2.981497337974475, current_pose_y:4.134826218833677,current_pose_yaw:1.84612238407135 +[2026-10-09 17:43:08.573] [path_visualizer] [debug] current_path_x:-3.0026351289649225, current_path_y:4.182874078019892,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.573] [path_visualizer] [debug] current_cmd_angular_z:-0.41519856004499633 +[2026-10-09 17:43:08.619] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.619] [path_visualizer] [debug] current_pose_x:-2.981497337974475, current_pose_y:4.134826218833677,current_pose_yaw:1.84612238407135 +[2026-10-09 17:43:08.619] [path_visualizer] [debug] current_path_x:-3.0026351289649225, current_path_y:4.182874078019892,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.619] [path_visualizer] [debug] current_cmd_angular_z:-0.41519856004499633 +[2026-10-09 17:43:08.671] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.672] [path_visualizer] [debug] current_pose_x:-2.981497337974475, current_pose_y:4.134826218833677,current_pose_yaw:1.84612238407135 +[2026-10-09 17:43:08.672] [path_visualizer] [debug] current_path_x:-3.0026351289649225, current_path_y:4.182874078019892,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.672] [path_visualizer] [debug] current_cmd_angular_z:-0.41519856004499633 +[2026-10-09 17:43:08.719] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.720] [path_visualizer] [debug] current_pose_x:-2.979465785944743, current_pose_y:4.188177081720503,current_pose_yaw:1.8308143615722656 +[2026-10-09 17:43:08.720] [path_visualizer] [debug] current_path_x:-3.0026351289649225, current_path_y:4.182874078019892,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.720] [path_visualizer] [debug] current_cmd_angular_z:-0.38575312558572616 +[2026-10-09 17:43:08.781] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.781] [path_visualizer] [debug] current_pose_x:-2.979465785944743, current_pose_y:4.188177081720503,current_pose_yaw:1.8308143615722656 +[2026-10-09 17:43:08.781] [path_visualizer] [debug] current_path_x:-3.0026351289649225, current_path_y:4.182874078019892,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.781] [path_visualizer] [debug] current_cmd_angular_z:-0.38575312558572616 +[2026-10-09 17:43:08.824] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.824] [path_visualizer] [debug] current_pose_x:-2.9780848433178413, current_pose_y:4.241089615515757,current_pose_yaw:1.8168388605117798 +[2026-10-09 17:43:08.824] [path_visualizer] [debug] current_path_x:-3.0026351289649225, current_path_y:4.182874078019892,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.824] [path_visualizer] [debug] current_cmd_angular_z:-0.3598105339717176 +[2026-10-09 17:43:08.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.874] [path_visualizer] [debug] current_pose_x:-2.9780848433178413, current_pose_y:4.241089615515757,current_pose_yaw:1.8168388605117798 +[2026-10-09 17:43:08.874] [path_visualizer] [debug] current_path_x:-3.0026351289649225, current_path_y:4.182874078019892,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.874] [path_visualizer] [debug] current_cmd_angular_z:-0.3598105339717176 +[2026-10-09 17:43:08.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.925] [path_visualizer] [debug] current_pose_x:-2.9780848433178413, current_pose_y:4.241089615515757,current_pose_yaw:1.8168388605117798 +[2026-10-09 17:43:08.925] [path_visualizer] [debug] current_path_x:-3.0026351289649225, current_path_y:4.182874078019892,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.925] [path_visualizer] [debug] current_cmd_angular_z:-0.3598105339717176 +[2026-10-09 17:43:08.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:08.974] [path_visualizer] [debug] current_pose_x:-2.9770553297782394, current_pose_y:4.293695343151451,current_pose_yaw:1.8038533926010132 +[2026-10-09 17:43:08.974] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:08.974] [path_visualizer] [debug] current_cmd_angular_z:-0.33620885122974903 +[2026-10-09 17:43:09.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.025] [path_visualizer] [debug] current_pose_x:-2.9770553297782394, current_pose_y:4.293695343151451,current_pose_yaw:1.8038533926010132 +[2026-10-09 17:43:09.025] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.025] [path_visualizer] [debug] current_cmd_angular_z:-0.33620885122974903 +[2026-10-09 17:43:09.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.071] [path_visualizer] [debug] current_pose_x:-2.976308677119351, current_pose_y:4.346047887191859,current_pose_yaw:1.7917412519454954 +[2026-10-09 17:43:09.071] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.071] [path_visualizer] [debug] current_cmd_angular_z:-0.3146180866306461 +[2026-10-09 17:43:09.122] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.122] [path_visualizer] [debug] current_pose_x:-2.976308677119351, current_pose_y:4.346047887191859,current_pose_yaw:1.7917412519454954 +[2026-10-09 17:43:09.122] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.122] [path_visualizer] [debug] current_cmd_angular_z:-0.3146180866306461 +[2026-10-09 17:43:09.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.171] [path_visualizer] [debug] current_pose_x:-2.976308677119351, current_pose_y:4.346047887191859,current_pose_yaw:1.7917412519454954 +[2026-10-09 17:43:09.171] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.171] [path_visualizer] [debug] current_cmd_angular_z:-0.3146180866306461 +[2026-10-09 17:43:09.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.226] [path_visualizer] [debug] current_pose_x:-2.9760037886877564, current_pose_y:4.398134448879979,current_pose_yaw:1.780603885650635 +[2026-10-09 17:43:09.226] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.226] [path_visualizer] [debug] current_cmd_angular_z:-0.29552196156941746 +[2026-10-09 17:43:09.273] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.273] [path_visualizer] [debug] current_pose_x:-2.9760037886877564, current_pose_y:4.398134448879979,current_pose_yaw:1.780603885650635 +[2026-10-09 17:43:09.273] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.273] [path_visualizer] [debug] current_cmd_angular_z:-0.29552196156941746 +[2026-10-09 17:43:09.326] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.326] [path_visualizer] [debug] current_pose_x:-2.9760037886877564, current_pose_y:4.398134448879979,current_pose_yaw:1.780603885650635 +[2026-10-09 17:43:09.326] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.326] [path_visualizer] [debug] current_cmd_angular_z:-0.29552196156941746 +[2026-10-09 17:43:09.371] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.371] [path_visualizer] [debug] current_pose_x:-2.9757310928057534, current_pose_y:4.450079199095393,current_pose_yaw:1.7700135707855225 +[2026-10-09 17:43:09.371] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.371] [path_visualizer] [debug] current_cmd_angular_z:-0.27739795962153635 +[2026-10-09 17:43:09.420] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.420] [path_visualizer] [debug] current_pose_x:-2.9757310928057534, current_pose_y:4.450079199095393,current_pose_yaw:1.7700135707855225 +[2026-10-09 17:43:09.420] [path_visualizer] [debug] current_path_x:-3.002635073115766, current_path_y:4.3820585353390396,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.420] [path_visualizer] [debug] current_cmd_angular_z:-0.27739795962153635 +[2026-10-09 17:43:09.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.473] [path_visualizer] [debug] current_pose_x:-2.9756242446522383, current_pose_y:4.50186376406919,current_pose_yaw:1.7600668668746948 +[2026-10-09 17:43:09.473] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.473] [path_visualizer] [debug] current_cmd_angular_z:-0.2606716087070147 +[2026-10-09 17:43:09.521] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.521] [path_visualizer] [debug] current_pose_x:-2.9756242446522383, current_pose_y:4.50186376406919,current_pose_yaw:1.7600668668746948 +[2026-10-09 17:43:09.521] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.521] [path_visualizer] [debug] current_cmd_angular_z:-0.2606716087070147 +[2026-10-09 17:43:09.576] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.576] [path_visualizer] [debug] current_pose_x:-2.9756242446522383, current_pose_y:4.50186376406919,current_pose_yaw:1.7600668668746948 +[2026-10-09 17:43:09.576] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.576] [path_visualizer] [debug] current_cmd_angular_z:-0.2606716087070147 +[2026-10-09 17:43:09.620] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.620] [path_visualizer] [debug] current_pose_x:-2.9756800289691845, current_pose_y:4.553507332920059,current_pose_yaw:1.750727891921997 +[2026-10-09 17:43:09.620] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.620] [path_visualizer] [debug] current_cmd_angular_z:-0.24527673484140586 +[2026-10-09 17:43:09.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.673] [path_visualizer] [debug] current_pose_x:-2.9756800289691845, current_pose_y:4.553507332920059,current_pose_yaw:1.750727891921997 +[2026-10-09 17:43:09.673] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.673] [path_visualizer] [debug] current_cmd_angular_z:-0.24527673484140586 +[2026-10-09 17:43:09.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.722] [path_visualizer] [debug] current_pose_x:-2.9758854860129262, current_pose_y:4.605026866607972,current_pose_yaw:1.7419545650482178 +[2026-10-09 17:43:09.722] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.722] [path_visualizer] [debug] current_cmd_angular_z:-0.23111787683527701 +[2026-10-09 17:43:09.772] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.772] [path_visualizer] [debug] current_pose_x:-2.9758854860129262, current_pose_y:4.605026866607972,current_pose_yaw:1.7419545650482178 +[2026-10-09 17:43:09.772] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.772] [path_visualizer] [debug] current_cmd_angular_z:-0.23111787683527701 +[2026-10-09 17:43:09.818] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.818] [path_visualizer] [debug] current_pose_x:-2.9758854860129262, current_pose_y:4.605026866607972,current_pose_yaw:1.7419545650482178 +[2026-10-09 17:43:09.818] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.818] [path_visualizer] [debug] current_cmd_angular_z:-0.23111787683527701 +[2026-10-09 17:43:09.872] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.872] [path_visualizer] [debug] current_pose_x:-2.9763482600666675, current_pose_y:4.656414694662197,current_pose_yaw:1.7338154315948486 +[2026-10-09 17:43:09.872] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.872] [path_visualizer] [debug] current_cmd_angular_z:-0.21852234829559752 +[2026-10-09 17:43:09.919] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.919] [path_visualizer] [debug] current_pose_x:-2.9763482600666675, current_pose_y:4.656414694662197,current_pose_yaw:1.7338154315948486 +[2026-10-09 17:43:09.919] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.919] [path_visualizer] [debug] current_cmd_angular_z:-0.21852234829559752 +[2026-10-09 17:43:09.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:09.974] [path_visualizer] [debug] current_pose_x:-2.9763482600666675, current_pose_y:4.656414694662197,current_pose_yaw:1.7338154315948486 +[2026-10-09 17:43:09.974] [path_visualizer] [debug] current_path_x:-3.002635017266609, current_path_y:4.581242992658187,current_path_yaw:1.570796327 +[2026-10-09 17:43:09.974] [path_visualizer] [debug] current_cmd_angular_z:-0.21852234829559752 +[2026-10-09 17:43:10.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.025] [path_visualizer] [debug] current_pose_x:-2.9767998096339765, current_pose_y:4.7077313096680005,current_pose_yaw:1.7260342836380007 +[2026-10-09 17:43:10.025] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.025] [path_visualizer] [debug] current_cmd_angular_z:-0.20649903140801967 +[2026-10-09 17:43:10.073] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.073] [path_visualizer] [debug] current_pose_x:-2.9767998096339765, current_pose_y:4.7077313096680005,current_pose_yaw:1.7260342836380007 +[2026-10-09 17:43:10.073] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.073] [path_visualizer] [debug] current_cmd_angular_z:-0.20649903140801967 +[2026-10-09 17:43:10.122] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.122] [path_visualizer] [debug] current_pose_x:-2.977328096020029, current_pose_y:4.75896883964295,current_pose_yaw:1.718677043914795 +[2026-10-09 17:43:10.122] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.122] [path_visualizer] [debug] current_cmd_angular_z:-0.19533162344445248 +[2026-10-09 17:43:10.170] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.171] [path_visualizer] [debug] current_pose_x:-2.977328096020029, current_pose_y:4.75896883964295,current_pose_yaw:1.718677043914795 +[2026-10-09 17:43:10.171] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.171] [path_visualizer] [debug] current_cmd_angular_z:-0.19533162344445248 +[2026-10-09 17:43:10.226] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.226] [path_visualizer] [debug] current_pose_x:-2.977328096020029, current_pose_y:4.75896883964295,current_pose_yaw:1.718677043914795 +[2026-10-09 17:43:10.226] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.226] [path_visualizer] [debug] current_cmd_angular_z:-0.19533162344445248 +[2026-10-09 17:43:10.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.274] [path_visualizer] [debug] current_pose_x:-2.9778191294740863, current_pose_y:4.8101536290546765,current_pose_yaw:1.7116237878799438 +[2026-10-09 17:43:10.274] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.274] [path_visualizer] [debug] current_cmd_angular_z:-0.18459503070248653 +[2026-10-09 17:43:10.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.325] [path_visualizer] [debug] current_pose_x:-2.9778191294740863, current_pose_y:4.8101536290546765,current_pose_yaw:1.7116237878799438 +[2026-10-09 17:43:10.325] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.325] [path_visualizer] [debug] current_cmd_angular_z:-0.18459503070248653 +[2026-10-09 17:43:10.371] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.371] [path_visualizer] [debug] current_pose_x:-2.97848582751749, current_pose_y:4.861257440858249,current_pose_yaw:1.70504629611969 +[2026-10-09 17:43:10.371] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.371] [path_visualizer] [debug] current_cmd_angular_z:-0.17499677325251714 +[2026-10-09 17:43:10.419] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.419] [path_visualizer] [debug] current_pose_x:-2.97848582751749, current_pose_y:4.861257440858249,current_pose_yaw:1.70504629611969 +[2026-10-09 17:43:10.419] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.419] [path_visualizer] [debug] current_cmd_angular_z:-0.17499677325251714 +[2026-10-09 17:43:10.471] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.471] [path_visualizer] [debug] current_pose_x:-2.97848582751749, current_pose_y:4.861257440858249,current_pose_yaw:1.70504629611969 +[2026-10-09 17:43:10.471] [path_visualizer] [debug] current_path_x:-3.002634961417453, current_path_y:4.780427449977335,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.471] [path_visualizer] [debug] current_cmd_angular_z:-0.17499677325251714 +[2026-10-09 17:43:10.519] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.519] [path_visualizer] [debug] current_pose_x:-2.979313442951651, current_pose_y:4.912290668492384,current_pose_yaw:1.6989120244979858 +[2026-10-09 17:43:10.519] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.519] [path_visualizer] [debug] current_cmd_angular_z:-0.16645367844253126 +[2026-10-09 17:43:10.572] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.573] [path_visualizer] [debug] current_pose_x:-2.979313442951651, current_pose_y:4.912290668492384,current_pose_yaw:1.6989120244979858 +[2026-10-09 17:43:10.573] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.573] [path_visualizer] [debug] current_cmd_angular_z:-0.16645367844253126 +[2026-10-09 17:43:10.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.625] [path_visualizer] [debug] current_pose_x:-2.979313442951651, current_pose_y:4.912290668492384,current_pose_yaw:1.6989120244979858 +[2026-10-09 17:43:10.625] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.625] [path_visualizer] [debug] current_cmd_angular_z:-0.16645367844253126 +[2026-10-09 17:43:10.674] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.674] [path_visualizer] [debug] current_pose_x:-2.9801016649578806, current_pose_y:4.96328889292081,current_pose_yaw:1.693018913269043 +[2026-10-09 17:43:10.674] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.674] [path_visualizer] [debug] current_cmd_angular_z:-0.1582327367721813 +[2026-10-09 17:43:10.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.722] [path_visualizer] [debug] current_pose_x:-2.9801016649578806, current_pose_y:4.96328889292081,current_pose_yaw:1.693018913269043 +[2026-10-09 17:43:10.722] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.722] [path_visualizer] [debug] current_cmd_angular_z:-0.1582327367721813 +[2026-10-09 17:43:10.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.774] [path_visualizer] [debug] current_pose_x:-2.980914744820228, current_pose_y:5.014248415917217,current_pose_yaw:1.6874142885208128 +[2026-10-09 17:43:10.774] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.774] [path_visualizer] [debug] current_cmd_angular_z:-0.15054007425485483 +[2026-10-09 17:43:10.823] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.823] [path_visualizer] [debug] current_pose_x:-2.980914744820228, current_pose_y:5.014248415917217,current_pose_yaw:1.6874142885208128 +[2026-10-09 17:43:10.823] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.823] [path_visualizer] [debug] current_cmd_angular_z:-0.15054007425485483 +[2026-10-09 17:43:10.868] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.868] [path_visualizer] [debug] current_pose_x:-2.980914744820228, current_pose_y:5.014248415917217,current_pose_yaw:1.6874142885208128 +[2026-10-09 17:43:10.868] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.868] [path_visualizer] [debug] current_cmd_angular_z:-0.15054007425485483 +[2026-10-09 17:43:10.924] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.924] [path_visualizer] [debug] current_pose_x:-2.9816752536768645, current_pose_y:5.0651794144098545,current_pose_yaw:1.68201744556427 +[2026-10-09 17:43:10.924] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.924] [path_visualizer] [debug] current_cmd_angular_z:-0.14308812003398924 +[2026-10-09 17:43:10.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:10.973] [path_visualizer] [debug] current_pose_x:-2.9816752536768645, current_pose_y:5.0651794144098545,current_pose_yaw:1.68201744556427 +[2026-10-09 17:43:10.973] [path_visualizer] [debug] current_path_x:-3.002634905568296, current_path_y:4.979611907296483,current_path_yaw:1.570796327 +[2026-10-09 17:43:10.973] [path_visualizer] [debug] current_cmd_angular_z:-0.14308812003398924 +[2026-10-09 17:43:11.026] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.026] [path_visualizer] [debug] current_pose_x:-2.98253348044951, current_pose_y:5.116066206917819,current_pose_yaw:1.6769497394561765 +[2026-10-09 17:43:11.026] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.026] [path_visualizer] [debug] current_cmd_angular_z:-0.13637656239022644 +[2026-10-09 17:43:11.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.074] [path_visualizer] [debug] current_pose_x:-2.98253348044951, current_pose_y:5.116066206917819,current_pose_yaw:1.6769497394561765 +[2026-10-09 17:43:11.074] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.074] [path_visualizer] [debug] current_cmd_angular_z:-0.13637656239022644 +[2026-10-09 17:43:11.122] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.123] [path_visualizer] [debug] current_pose_x:-2.98253348044951, current_pose_y:5.116066206917819,current_pose_yaw:1.6769497394561765 +[2026-10-09 17:43:11.123] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.123] [path_visualizer] [debug] current_cmd_angular_z:-0.13637656239022644 +[2026-10-09 17:43:11.174] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.174] [path_visualizer] [debug] current_pose_x:-2.983343276927297, current_pose_y:5.166931218640245,current_pose_yaw:1.6720683574676514 +[2026-10-09 17:43:11.174] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.174] [path_visualizer] [debug] current_cmd_angular_z:-0.12987818888516992 +[2026-10-09 17:43:11.224] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.224] [path_visualizer] [debug] current_pose_x:-2.983343276927297, current_pose_y:5.166931218640245,current_pose_yaw:1.6720683574676514 +[2026-10-09 17:43:11.224] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.225] [path_visualizer] [debug] current_cmd_angular_z:-0.12987818888516992 +[2026-10-09 17:43:11.277] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.277] [path_visualizer] [debug] current_pose_x:-2.983343276927297, current_pose_y:5.166931218640245,current_pose_yaw:1.6720683574676514 +[2026-10-09 17:43:11.277] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.277] [path_visualizer] [debug] current_cmd_angular_z:-0.12987818888516992 +[2026-10-09 17:43:11.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.325] [path_visualizer] [debug] current_pose_x:-2.9842308280459524, current_pose_y:5.217761559263627,current_pose_yaw:1.6674746274948122 +[2026-10-09 17:43:11.325] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.325] [path_visualizer] [debug] current_cmd_angular_z:-0.12401162748200012 +[2026-10-09 17:43:11.376] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.376] [path_visualizer] [debug] current_pose_x:-2.9842308280459524, current_pose_y:5.217761559263627,current_pose_yaw:1.6674746274948122 +[2026-10-09 17:43:11.376] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.376] [path_visualizer] [debug] current_cmd_angular_z:-0.12401162748200012 +[2026-10-09 17:43:11.425] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.425] [path_visualizer] [debug] current_pose_x:-2.9851336387335055, current_pose_y:5.268569614864978,current_pose_yaw:1.6631007194519043 +[2026-10-09 17:43:11.425] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.425] [path_visualizer] [debug] current_cmd_angular_z:-0.11854030356075951 +[2026-10-09 17:43:11.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.474] [path_visualizer] [debug] current_pose_x:-2.9851336387335055, current_pose_y:5.268569614864978,current_pose_yaw:1.6631007194519043 +[2026-10-09 17:43:11.474] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.474] [path_visualizer] [debug] current_cmd_angular_z:-0.11854030356075951 +[2026-10-09 17:43:11.522] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.522] [path_visualizer] [debug] current_pose_x:-2.9851336387335055, current_pose_y:5.268569614864978,current_pose_yaw:1.6631007194519043 +[2026-10-09 17:43:11.522] [path_visualizer] [debug] current_path_x:-3.0026348497191395, current_path_y:5.17879636461563,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.522] [path_visualizer] [debug] current_cmd_angular_z:-0.11854030356075951 +[2026-10-09 17:43:11.571] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.571] [path_visualizer] [debug] current_pose_x:-2.985977994939901, current_pose_y:5.319360934773054,current_pose_yaw:1.6588754653930664 +[2026-10-09 17:43:11.571] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.571] [path_visualizer] [debug] current_cmd_angular_z:-0.11319995915818899 +[2026-10-09 17:43:11.625] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.625] [path_visualizer] [debug] current_pose_x:-2.985977994939901, current_pose_y:5.319360934773054,current_pose_yaw:1.6588754653930664 +[2026-10-09 17:43:11.625] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.625] [path_visualizer] [debug] current_cmd_angular_z:-0.11319995915818899 +[2026-10-09 17:43:11.671] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.671] [path_visualizer] [debug] current_pose_x:-2.9868895756289606, current_pose_y:5.370081684151717,current_pose_yaw:1.6548774242401123 +[2026-10-09 17:43:11.671] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.671] [path_visualizer] [debug] current_cmd_angular_z:-0.10837008272333845 +[2026-10-09 17:43:11.727] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.727] [path_visualizer] [debug] current_pose_x:-2.9868895756289606, current_pose_y:5.370081684151717,current_pose_yaw:1.6548774242401123 +[2026-10-09 17:43:11.727] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.727] [path_visualizer] [debug] current_cmd_angular_z:-0.10837008272333845 +[2026-10-09 17:43:11.776] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.776] [path_visualizer] [debug] current_pose_x:-2.9868895756289606, current_pose_y:5.370081684151717,current_pose_yaw:1.6548774242401123 +[2026-10-09 17:43:11.776] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.776] [path_visualizer] [debug] current_cmd_angular_z:-0.10837008272333845 +[2026-10-09 17:43:11.819] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.819] [path_visualizer] [debug] current_pose_x:-2.9878629647255748, current_pose_y:5.420733042499112,current_pose_yaw:1.6510915756225586 +[2026-10-09 17:43:11.819] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.819] [path_visualizer] [debug] current_cmd_angular_z:-0.10401510421580212 +[2026-10-09 17:43:11.872] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.873] [path_visualizer] [debug] current_pose_x:-2.9878629647255748, current_pose_y:5.420733042499112,current_pose_yaw:1.6510915756225586 +[2026-10-09 17:43:11.873] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.873] [path_visualizer] [debug] current_cmd_angular_z:-0.10401510421580212 +[2026-10-09 17:43:11.927] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.927] [path_visualizer] [debug] current_pose_x:-2.9878629647255748, current_pose_y:5.420733042499112,current_pose_yaw:1.6510915756225586 +[2026-10-09 17:43:11.927] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.927] [path_visualizer] [debug] current_cmd_angular_z:-0.10401510421580212 +[2026-10-09 17:43:11.972] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:11.972] [path_visualizer] [debug] current_pose_x:-2.9887321306276085, current_pose_y:5.4712848562279195,current_pose_yaw:1.647445797920227 +[2026-10-09 17:43:11.972] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:11.972] [path_visualizer] [debug] current_cmd_angular_z:-0.09968596368317562 +[2026-10-09 17:43:12.023] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.023] [path_visualizer] [debug] current_pose_x:-2.9887321306276085, current_pose_y:5.4712848562279195,current_pose_yaw:1.647445797920227 +[2026-10-09 17:43:12.023] [path_visualizer] [debug] current_path_x:-3.0026347938699827, current_path_y:5.377980821934779,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.023] [path_visualizer] [debug] current_cmd_angular_z:-0.09968596368317562 +[2026-10-09 17:43:12.068] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.068] [path_visualizer] [debug] current_pose_x:-2.989581333558454, current_pose_y:5.52183069545304,current_pose_yaw:1.64394474029541 +[2026-10-09 17:43:12.068] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.068] [path_visualizer] [debug] current_cmd_angular_z:-0.09555761738893359 +[2026-10-09 17:43:12.122] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.123] [path_visualizer] [debug] current_pose_x:-2.989581333558454, current_pose_y:5.52183069545304,current_pose_yaw:1.64394474029541 +[2026-10-09 17:43:12.123] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.123] [path_visualizer] [debug] current_cmd_angular_z:-0.09555761738893359 +[2026-10-09 17:43:12.172] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.172] [path_visualizer] [debug] current_pose_x:-2.989581333558454, current_pose_y:5.52183069545304,current_pose_yaw:1.64394474029541 +[2026-10-09 17:43:12.172] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.172] [path_visualizer] [debug] current_cmd_angular_z:-0.09555761738893359 +[2026-10-09 17:43:12.221] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.221] [path_visualizer] [debug] current_pose_x:-2.9903786714662886, current_pose_y:5.572375829325308,current_pose_yaw:1.6405537128448486 +[2026-10-09 17:43:12.221] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.221] [path_visualizer] [debug] current_cmd_angular_z:-0.09150897160714469 +[2026-10-09 17:43:12.268] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.268] [path_visualizer] [debug] current_pose_x:-2.9903786714662886, current_pose_y:5.572375829325308,current_pose_yaw:1.6405537128448486 +[2026-10-09 17:43:12.268] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.268] [path_visualizer] [debug] current_cmd_angular_z:-0.09150897160714469 +[2026-10-09 17:43:12.324] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.324] [path_visualizer] [debug] current_pose_x:-2.991205397826209, current_pose_y:5.622910021963326,current_pose_yaw:1.6373385190963743 +[2026-10-09 17:43:12.324] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.324] [path_visualizer] [debug] current_cmd_angular_z:-0.08781055357057908 +[2026-10-09 17:43:12.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.374] [path_visualizer] [debug] current_pose_x:-2.991205397826209, current_pose_y:5.622910021963326,current_pose_yaw:1.6373385190963743 +[2026-10-09 17:43:12.374] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.374] [path_visualizer] [debug] current_cmd_angular_z:-0.08781055357057908 +[2026-10-09 17:43:12.420] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.420] [path_visualizer] [debug] current_pose_x:-2.991205397826209, current_pose_y:5.622910021963326,current_pose_yaw:1.6373385190963743 +[2026-10-09 17:43:12.420] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.420] [path_visualizer] [debug] current_cmd_angular_z:-0.08781055357057908 +[2026-10-09 17:43:12.473] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.473] [path_visualizer] [debug] current_pose_x:-2.992024227889566, current_pose_y:5.673441089036777,current_pose_yaw:1.63425874710083 +[2026-10-09 17:43:12.473] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.474] [path_visualizer] [debug] current_cmd_angular_z:-0.0843213146002343 +[2026-10-09 17:43:12.523] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.523] [path_visualizer] [debug] current_pose_x:-2.992024227889566, current_pose_y:5.673441089036777,current_pose_yaw:1.63425874710083 +[2026-10-09 17:43:12.523] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.523] [path_visualizer] [debug] current_cmd_angular_z:-0.0843213146002343 +[2026-10-09 17:43:12.574] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.574] [path_visualizer] [debug] current_pose_x:-2.992024227889566, current_pose_y:5.673441089036777,current_pose_yaw:1.63425874710083 +[2026-10-09 17:43:12.574] [path_visualizer] [debug] current_path_x:-3.0026347380208263, current_path_y:5.577165279253926,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.574] [path_visualizer] [debug] current_cmd_angular_z:-0.0843213146002343 +[2026-10-09 17:43:12.631] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.631] [path_visualizer] [debug] current_pose_x:-2.992828692069034, current_pose_y:5.723966093795082,current_pose_yaw:1.6313027143478394 +[2026-10-09 17:43:12.631] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.631] [path_visualizer] [debug] current_cmd_angular_z:-0.0810091369173048 +[2026-10-09 17:43:12.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.674] [path_visualizer] [debug] current_pose_x:-2.992828692069034, current_pose_y:5.723966093795082,current_pose_yaw:1.6313027143478394 +[2026-10-09 17:43:12.674] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.674] [path_visualizer] [debug] current_cmd_angular_z:-0.0810091369173048 +[2026-10-09 17:43:12.723] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.723] [path_visualizer] [debug] current_pose_x:-2.9936187217784447, current_pose_y:5.774487796098654,current_pose_yaw:1.6284650564193726 +[2026-10-09 17:43:12.723] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.723] [path_visualizer] [debug] current_cmd_angular_z:-0.07786475621908263 +[2026-10-09 17:43:12.769] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.769] [path_visualizer] [debug] current_pose_x:-2.9936187217784447, current_pose_y:5.774487796098654,current_pose_yaw:1.6284650564193726 +[2026-10-09 17:43:12.769] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.769] [path_visualizer] [debug] current_cmd_angular_z:-0.07786475621908263 +[2026-10-09 17:43:12.822] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.822] [path_visualizer] [debug] current_pose_x:-2.9936187217784447, current_pose_y:5.774487796098654,current_pose_yaw:1.6284650564193726 +[2026-10-09 17:43:12.822] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.822] [path_visualizer] [debug] current_cmd_angular_z:-0.07786475621908263 +[2026-10-09 17:43:12.868] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.868] [path_visualizer] [debug] current_pose_x:-2.9943597496348846, current_pose_y:5.8250093268284076,current_pose_yaw:1.6257101297378538 +[2026-10-09 17:43:12.868] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.868] [path_visualizer] [debug] current_cmd_angular_z:-0.07476054139288704 +[2026-10-09 17:43:12.919] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.919] [path_visualizer] [debug] current_pose_x:-2.9943597496348846, current_pose_y:5.8250093268284076,current_pose_yaw:1.6257101297378538 +[2026-10-09 17:43:12.919] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.919] [path_visualizer] [debug] current_cmd_angular_z:-0.07476054139288704 +[2026-10-09 17:43:12.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:12.974] [path_visualizer] [debug] current_pose_x:-2.9951153468363643, current_pose_y:5.875525447391733,current_pose_yaw:1.6230897903442383 +[2026-10-09 17:43:12.974] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:12.974] [path_visualizer] [debug] current_cmd_angular_z:-0.07190867976684537 +[2026-10-09 17:43:13.019] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.019] [path_visualizer] [debug] current_pose_x:-2.9951153468363643, current_pose_y:5.875525447391733,current_pose_yaw:1.6230897903442383 +[2026-10-09 17:43:13.019] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.019] [path_visualizer] [debug] current_cmd_angular_z:-0.07190867976684537 +[2026-10-09 17:43:13.071] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.071] [path_visualizer] [debug] current_pose_x:-2.9951153468363643, current_pose_y:5.875525447391733,current_pose_yaw:1.6230897903442383 +[2026-10-09 17:43:13.071] [path_visualizer] [debug] current_path_x:-3.0026346821716694, current_path_y:5.776349736573074,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.072] [path_visualizer] [debug] current_cmd_angular_z:-0.07190867976684537 +[2026-10-09 17:43:13.118] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.118] [path_visualizer] [debug] current_pose_x:-2.9958825872285075, current_pose_y:5.926033679738375,current_pose_yaw:1.6205965280532837 +[2026-10-09 17:43:13.118] [path_visualizer] [debug] current_path_x:-3.002634626322513, current_path_y:5.975534193892221,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.118] [path_visualizer] [debug] current_cmd_angular_z:-0.06929100912344048 +[2026-10-09 17:43:13.175] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.175] [path_visualizer] [debug] current_pose_x:-2.9958825872285075, current_pose_y:5.926033679738375,current_pose_yaw:1.6205965280532837 +[2026-10-09 17:43:13.175] [path_visualizer] [debug] current_path_x:-3.002634626322513, current_path_y:5.975534193892221,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.175] [path_visualizer] [debug] current_cmd_angular_z:-0.06929100912344048 +[2026-10-09 17:43:13.219] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.219] [path_visualizer] [debug] current_pose_x:-2.9958825872285075, current_pose_y:5.926033679738375,current_pose_yaw:1.6205965280532837 +[2026-10-09 17:43:13.219] [path_visualizer] [debug] current_path_x:-3.002634626322513, current_path_y:5.975534193892221,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.219] [path_visualizer] [debug] current_cmd_angular_z:-0.06929100912344048 +[2026-10-09 17:43:13.268] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.268] [path_visualizer] [debug] current_pose_x:-2.9966063300240418, current_pose_y:5.976536788586129,current_pose_yaw:1.6181750297546384 +[2026-10-09 17:43:13.268] [path_visualizer] [debug] current_path_x:-3.002634626322513, current_path_y:5.975534193892221,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.268] [path_visualizer] [debug] current_cmd_angular_z:-0.06670610198797773 +[2026-10-09 17:43:13.323] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.323] [path_visualizer] [debug] current_pose_x:-2.9966063300240418, current_pose_y:5.976536788586129,current_pose_yaw:1.6181750297546384 +[2026-10-09 17:43:13.323] [path_visualizer] [debug] current_path_x:-3.002634626322513, current_path_y:5.975534193892221,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.323] [path_visualizer] [debug] current_cmd_angular_z:-0.06670610198797773 +[2026-10-09 17:43:13.370] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.370] [path_visualizer] [debug] current_pose_x:-2.997307817416528, current_pose_y:6.027033453303865,current_pose_yaw:1.615841627120972 +[2026-10-09 17:43:13.370] [path_visualizer] [debug] current_path_x:-3.002634626322513, current_path_y:5.975534193892221,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.370] [path_visualizer] [debug] current_cmd_angular_z:-0.06422331766925615 +[2026-10-09 17:43:13.419] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.419] [path_visualizer] [debug] current_pose_x:-2.997307817416528, current_pose_y:6.027033453303865,current_pose_yaw:1.615841627120972 +[2026-10-09 17:43:13.419] [path_visualizer] [debug] current_path_x:-3.002634626322513, current_path_y:5.975534193892221,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.419] [path_visualizer] [debug] current_cmd_angular_z:-0.06422331766925615 +[2026-10-09 17:43:13.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.474] [path_visualizer] [debug] current_pose_x:-2.997307817416528, current_pose_y:6.027033453303865,current_pose_yaw:1.615841627120972 +[2026-10-09 17:43:13.474] [path_visualizer] [debug] current_path_x:-3.002634626322513, current_path_y:5.975534193892221,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.474] [path_visualizer] [debug] current_cmd_angular_z:-0.06422331766925615 +[2026-10-09 17:43:13.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.525] [path_visualizer] [debug] current_pose_x:-2.9979662320518305, current_pose_y:6.077525314686056,current_pose_yaw:1.6135740280151367 +[2026-10-09 17:43:13.525] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.525] [path_visualizer] [debug] current_cmd_angular_z:-0.06176446504763198 +[2026-10-09 17:43:13.568] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.568] [path_visualizer] [debug] current_pose_x:-2.9979662320518305, current_pose_y:6.077525314686056,current_pose_yaw:1.6135740280151367 +[2026-10-09 17:43:13.568] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.568] [path_visualizer] [debug] current_cmd_angular_z:-0.06176446504763198 +[2026-10-09 17:43:13.618] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.618] [path_visualizer] [debug] current_pose_x:-2.9986311536436836, current_pose_y:6.128009618839845,current_pose_yaw:1.6114127635955813 +[2026-10-09 17:43:13.618] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.618] [path_visualizer] [debug] current_cmd_angular_z:-0.059494955529635796 +[2026-10-09 17:43:13.671] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.671] [path_visualizer] [debug] current_pose_x:-2.9986311536436836, current_pose_y:6.128009618839845,current_pose_yaw:1.6114127635955813 +[2026-10-09 17:43:13.671] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.671] [path_visualizer] [debug] current_cmd_angular_z:-0.059494955529635796 +[2026-10-09 17:43:13.721] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.721] [path_visualizer] [debug] current_pose_x:-2.9986311536436836, current_pose_y:6.128009618839845,current_pose_yaw:1.6114127635955813 +[2026-10-09 17:43:13.721] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.722] [path_visualizer] [debug] current_cmd_angular_z:-0.059494955529635796 +[2026-10-09 17:43:13.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.775] [path_visualizer] [debug] current_pose_x:-2.999301829831277, current_pose_y:6.178489033110515,current_pose_yaw:1.609352707862854 +[2026-10-09 17:43:13.775] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.775] [path_visualizer] [debug] current_cmd_angular_z:-0.05740489698894699 +[2026-10-09 17:43:13.823] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.823] [path_visualizer] [debug] current_pose_x:-2.999301829831277, current_pose_y:6.178489033110515,current_pose_yaw:1.609352707862854 +[2026-10-09 17:43:13.823] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.823] [path_visualizer] [debug] current_cmd_angular_z:-0.05740489698894699 +[2026-10-09 17:43:13.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.874] [path_visualizer] [debug] current_pose_x:-2.999301829831277, current_pose_y:6.178489033110515,current_pose_yaw:1.609352707862854 +[2026-10-09 17:43:13.874] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.874] [path_visualizer] [debug] current_cmd_angular_z:-0.05740489698894699 +[2026-10-09 17:43:13.924] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.924] [path_visualizer] [debug] current_pose_x:-2.9999344549214477, current_pose_y:6.22896437698361,current_pose_yaw:1.6073501110076904 +[2026-10-09 17:43:13.924] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.924] [path_visualizer] [debug] current_cmd_angular_z:-0.055334764887933145 +[2026-10-09 17:43:13.968] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:13.968] [path_visualizer] [debug] current_pose_x:-2.9999344549214477, current_pose_y:6.22896437698361,current_pose_yaw:1.6073501110076904 +[2026-10-09 17:43:13.968] [path_visualizer] [debug] current_path_x:-3.002634570473356, current_path_y:6.17471865121137,current_path_yaw:1.570796327 +[2026-10-09 17:43:13.968] [path_visualizer] [debug] current_cmd_angular_z:-0.055334764887933145 +[2026-10-09 17:43:14.021] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.021] [path_visualizer] [debug] current_pose_x:-3.00054633243569, current_pose_y:6.279432743005309,current_pose_yaw:1.60541832447052 +[2026-10-09 17:43:14.021] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.021] [path_visualizer] [debug] current_cmd_angular_z:-0.05334115826925954 +[2026-10-09 17:43:14.075] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.075] [path_visualizer] [debug] current_pose_x:-3.00054633243569, current_pose_y:6.279432743005309,current_pose_yaw:1.60541832447052 +[2026-10-09 17:43:14.075] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.075] [path_visualizer] [debug] current_cmd_angular_z:-0.05334115826925954 +[2026-10-09 17:43:14.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.125] [path_visualizer] [debug] current_pose_x:-3.00054633243569, current_pose_y:6.279432743005309,current_pose_yaw:1.60541832447052 +[2026-10-09 17:43:14.125] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.125] [path_visualizer] [debug] current_cmd_angular_z:-0.05334115826925954 +[2026-10-09 17:43:14.172] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.172] [path_visualizer] [debug] current_pose_x:-3.00111922630479, current_pose_y:6.3298974484455,current_pose_yaw:1.603538155555725 +[2026-10-09 17:43:14.172] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.172] [path_visualizer] [debug] current_cmd_angular_z:-0.05135581931997286 +[2026-10-09 17:43:14.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.225] [path_visualizer] [debug] current_pose_x:-3.00111922630479, current_pose_y:6.3298974484455,current_pose_yaw:1.603538155555725 +[2026-10-09 17:43:14.225] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.225] [path_visualizer] [debug] current_cmd_angular_z:-0.05135581931997286 +[2026-10-09 17:43:14.272] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.272] [path_visualizer] [debug] current_pose_x:-3.0016953074566, current_pose_y:6.380356534792974,current_pose_yaw:1.6017440557479858 +[2026-10-09 17:43:14.272] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.272] [path_visualizer] [debug] current_cmd_angular_z:-0.049519702921320234 +[2026-10-09 17:43:14.326] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.326] [path_visualizer] [debug] current_pose_x:-3.0016953074566, current_pose_y:6.380356534792974,current_pose_yaw:1.6017440557479858 +[2026-10-09 17:43:14.326] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.326] [path_visualizer] [debug] current_cmd_angular_z:-0.049519702921320234 +[2026-10-09 17:43:14.368] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.368] [path_visualizer] [debug] current_pose_x:-3.0016953074566, current_pose_y:6.380356534792974,current_pose_yaw:1.6017440557479858 +[2026-10-09 17:43:14.368] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.368] [path_visualizer] [debug] current_cmd_angular_z:-0.049519702921320234 +[2026-10-09 17:43:14.421] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.421] [path_visualizer] [debug] current_pose_x:-3.0022717707616406, current_pose_y:6.430810477591783,current_pose_yaw:1.6000301837921143 +[2026-10-09 17:43:14.421] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.421] [path_visualizer] [debug] current_cmd_angular_z:-0.047817546975969245 +[2026-10-09 17:43:14.472] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.472] [path_visualizer] [debug] current_pose_x:-3.0022717707616406, current_pose_y:6.430810477591783,current_pose_yaw:1.6000301837921143 +[2026-10-09 17:43:14.472] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.472] [path_visualizer] [debug] current_cmd_angular_z:-0.047817546975969245 +[2026-10-09 17:43:14.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.525] [path_visualizer] [debug] current_pose_x:-3.0022717707616406, current_pose_y:6.430810477591783,current_pose_yaw:1.6000301837921143 +[2026-10-09 17:43:14.525] [path_visualizer] [debug] current_path_x:-3.0026345146241997, current_path_y:6.373903108530518,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.525] [path_visualizer] [debug] current_cmd_angular_z:-0.047817546975969245 +[2026-10-09 17:43:14.573] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.573] [path_visualizer] [debug] current_pose_x:-3.0028144931679415, current_pose_y:6.481261184877798,current_pose_yaw:1.5983623266220093 +[2026-10-09 17:43:14.573] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.573] [path_visualizer] [debug] current_cmd_angular_z:-0.04612497676302287 +[2026-10-09 17:43:14.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.624] [path_visualizer] [debug] current_pose_x:-3.0028144931679415, current_pose_y:6.481261184877798,current_pose_yaw:1.5983623266220093 +[2026-10-09 17:43:14.624] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.624] [path_visualizer] [debug] current_cmd_angular_z:-0.04612497676302287 +[2026-10-09 17:43:14.671] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.671] [path_visualizer] [debug] current_pose_x:-3.0033382824215287, current_pose_y:6.5317080914445285,current_pose_yaw:1.5967518091201784 +[2026-10-09 17:43:14.671] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.671] [path_visualizer] [debug] current_cmd_angular_z:-0.04448994380147757 +[2026-10-09 17:43:14.725] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.725] [path_visualizer] [debug] current_pose_x:-3.0033382824215287, current_pose_y:6.5317080914445285,current_pose_yaw:1.5967518091201784 +[2026-10-09 17:43:14.725] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.725] [path_visualizer] [debug] current_cmd_angular_z:-0.04448994380147757 +[2026-10-09 17:43:14.773] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.774] [path_visualizer] [debug] current_pose_x:-3.0033382824215287, current_pose_y:6.5317080914445285,current_pose_yaw:1.5967518091201784 +[2026-10-09 17:43:14.774] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.774] [path_visualizer] [debug] current_cmd_angular_z:-0.04448994380147757 +[2026-10-09 17:43:14.822] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.822] [path_visualizer] [debug] current_pose_x:-3.00389112317175, current_pose_y:6.582260483465116,current_pose_yaw:1.5951863527297971 +[2026-10-09 17:43:14.822] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.822] [path_visualizer] [debug] current_cmd_angular_z:-0.04298734824462151 +[2026-10-09 17:43:14.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.874] [path_visualizer] [debug] current_pose_x:-3.00389112317175, current_pose_y:6.582260483465116,current_pose_yaw:1.5951863527297971 +[2026-10-09 17:43:14.874] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.874] [path_visualizer] [debug] current_cmd_angular_z:-0.04298734824462151 +[2026-10-09 17:43:14.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.925] [path_visualizer] [debug] current_pose_x:-3.0044089671296885, current_pose_y:6.632895959927148,current_pose_yaw:1.5936882495880127 +[2026-10-09 17:43:14.925] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.925] [path_visualizer] [debug] current_cmd_angular_z:-0.04152716485021776 +[2026-10-09 17:43:14.971] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:14.971] [path_visualizer] [debug] current_pose_x:-3.0044089671296885, current_pose_y:6.632895959927148,current_pose_yaw:1.5936882495880127 +[2026-10-09 17:43:14.971] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:14.971] [path_visualizer] [debug] current_cmd_angular_z:-0.04152716485021776 +[2026-10-09 17:43:15.022] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.022] [path_visualizer] [debug] current_pose_x:-3.0044089671296885, current_pose_y:6.632895959927148,current_pose_yaw:1.5936882495880127 +[2026-10-09 17:43:15.022] [path_visualizer] [debug] current_path_x:-3.002634458775043, current_path_y:6.573087565849665,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.022] [path_visualizer] [debug] current_cmd_angular_z:-0.04152716485021776 +[2026-10-09 17:43:15.070] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.071] [path_visualizer] [debug] current_pose_x:-3.0049198987698125, current_pose_y:6.6835254937057655,current_pose_yaw:1.5922517776489258 +[2026-10-09 17:43:15.071] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.071] [path_visualizer] [debug] current_cmd_angular_z:-0.04015570845121941 +[2026-10-09 17:43:15.130] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.130] [path_visualizer] [debug] current_pose_x:-3.0049198987698125, current_pose_y:6.6835254937057655,current_pose_yaw:1.5922517776489258 +[2026-10-09 17:43:15.130] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.130] [path_visualizer] [debug] current_cmd_angular_z:-0.04015570845121941 +[2026-10-09 17:43:15.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.171] [path_visualizer] [debug] current_pose_x:-3.0049198987698125, current_pose_y:6.6835254937057655,current_pose_yaw:1.5922517776489258 +[2026-10-09 17:43:15.171] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.171] [path_visualizer] [debug] current_cmd_angular_z:-0.04015570845121941 +[2026-10-09 17:43:15.224] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.224] [path_visualizer] [debug] current_pose_x:-3.005398878007415, current_pose_y:6.73415035515095,current_pose_yaw:1.5908524990081787 +[2026-10-09 17:43:15.224] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.225] [path_visualizer] [debug] current_cmd_angular_z:-0.038782517142476235 +[2026-10-09 17:43:15.274] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.274] [path_visualizer] [debug] current_pose_x:-3.005398878007415, current_pose_y:6.73415035515095,current_pose_yaw:1.5908524990081787 +[2026-10-09 17:43:15.274] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.274] [path_visualizer] [debug] current_cmd_angular_z:-0.038782517142476235 +[2026-10-09 17:43:15.326] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.326] [path_visualizer] [debug] current_pose_x:-3.0058581737945875, current_pose_y:6.78477200791799,current_pose_yaw:1.5894989967346194 +[2026-10-09 17:43:15.326] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.326] [path_visualizer] [debug] current_cmd_angular_z:-0.037446287185568895 +[2026-10-09 17:43:15.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.374] [path_visualizer] [debug] current_pose_x:-3.0058581737945875, current_pose_y:6.78477200791799,current_pose_yaw:1.5894989967346194 +[2026-10-09 17:43:15.374] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.374] [path_visualizer] [debug] current_cmd_angular_z:-0.037446287185568895 +[2026-10-09 17:43:15.424] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.424] [path_visualizer] [debug] current_pose_x:-3.0058581737945875, current_pose_y:6.78477200791799,current_pose_yaw:1.5894989967346194 +[2026-10-09 17:43:15.424] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.424] [path_visualizer] [debug] current_cmd_angular_z:-0.037446287185568895 +[2026-10-09 17:43:15.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.475] [path_visualizer] [debug] current_pose_x:-3.0062873555422573, current_pose_y:6.835391715429694,current_pose_yaw:1.5881797075271606 +[2026-10-09 17:43:15.475] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.475] [path_visualizer] [debug] current_cmd_angular_z:-0.0361071313995084 +[2026-10-09 17:43:15.520] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.520] [path_visualizer] [debug] current_pose_x:-3.0062873555422573, current_pose_y:6.835391715429694,current_pose_yaw:1.5881797075271606 +[2026-10-09 17:43:15.520] [path_visualizer] [debug] current_path_x:-3.0026344029258865, current_path_y:6.772272023168814,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.520] [path_visualizer] [debug] current_cmd_angular_z:-0.0361071313995084 +[2026-10-09 17:43:15.568] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.569] [path_visualizer] [debug] current_pose_x:-3.0067147555729465, current_pose_y:6.886008805804323,current_pose_yaw:1.5869176387786865 +[2026-10-09 17:43:15.569] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.569] [path_visualizer] [debug] current_cmd_angular_z:-0.034859555759770976 +[2026-10-09 17:43:15.621] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.621] [path_visualizer] [debug] current_pose_x:-3.0067147555729465, current_pose_y:6.886008805804323,current_pose_yaw:1.5869176387786865 +[2026-10-09 17:43:15.621] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.621] [path_visualizer] [debug] current_cmd_angular_z:-0.034859555759770976 +[2026-10-09 17:43:15.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.673] [path_visualizer] [debug] current_pose_x:-3.0067147555729465, current_pose_y:6.886008805804323,current_pose_yaw:1.5869176387786865 +[2026-10-09 17:43:15.673] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.673] [path_visualizer] [debug] current_cmd_angular_z:-0.034859555759770976 +[2026-10-09 17:43:15.719] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.719] [path_visualizer] [debug] current_pose_x:-3.0071397596154315, current_pose_y:6.9366257047973825,current_pose_yaw:1.585709810256958 +[2026-10-09 17:43:15.719] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.719] [path_visualizer] [debug] current_cmd_angular_z:-0.0336971720903127 +[2026-10-09 17:43:15.772] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.772] [path_visualizer] [debug] current_pose_x:-3.0071397596154315, current_pose_y:6.9366257047973825,current_pose_yaw:1.585709810256958 +[2026-10-09 17:43:15.772] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.772] [path_visualizer] [debug] current_cmd_angular_z:-0.0336971720903127 +[2026-10-09 17:43:15.820] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.820] [path_visualizer] [debug] current_pose_x:-3.0071397596154315, current_pose_y:6.9366257047973825,current_pose_yaw:1.585709810256958 +[2026-10-09 17:43:15.820] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.820] [path_visualizer] [debug] current_cmd_angular_z:-0.0336971720903127 +[2026-10-09 17:43:15.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.874] [path_visualizer] [debug] current_pose_x:-3.00753962892492, current_pose_y:6.987241273690624,current_pose_yaw:1.5845334529876711 +[2026-10-09 17:43:15.874] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.874] [path_visualizer] [debug] current_cmd_angular_z:-0.03253718658511172 +[2026-10-09 17:43:15.925] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.925] [path_visualizer] [debug] current_pose_x:-3.00753962892492, current_pose_y:6.987241273690624,current_pose_yaw:1.5845334529876711 +[2026-10-09 17:43:15.925] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.925] [path_visualizer] [debug] current_cmd_angular_z:-0.03253718658511172 +[2026-10-09 17:43:15.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:15.974] [path_visualizer] [debug] current_pose_x:-3.007925290103846, current_pose_y:7.037853047427404,current_pose_yaw:1.5833971500396729 +[2026-10-09 17:43:15.974] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:15.974] [path_visualizer] [debug] current_cmd_angular_z:-0.03141552215974053 +[2026-10-09 17:43:16.019] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.019] [path_visualizer] [debug] current_pose_x:-3.007925290103846, current_pose_y:7.037853047427404,current_pose_yaw:1.5833971500396729 +[2026-10-09 17:43:16.019] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.019] [path_visualizer] [debug] current_cmd_angular_z:-0.03141552215974053 +[2026-10-09 17:43:16.070] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.070] [path_visualizer] [debug] current_pose_x:-3.007925290103846, current_pose_y:7.037853047427404,current_pose_yaw:1.5833971500396729 +[2026-10-09 17:43:16.070] [path_visualizer] [debug] current_path_x:-3.0026343470767296, current_path_y:6.97145648048796,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.070] [path_visualizer] [debug] current_cmd_angular_z:-0.03141552215974053 +[2026-10-09 17:43:16.118] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.118] [path_visualizer] [debug] current_pose_x:-3.0082856999462693, current_pose_y:7.088463567087884,current_pose_yaw:1.582289457321167 +[2026-10-09 17:43:16.118] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.118] [path_visualizer] [debug] current_cmd_angular_z:-0.03029138531375799 +[2026-10-09 17:43:16.174] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.174] [path_visualizer] [debug] current_pose_x:-3.0082856999462693, current_pose_y:7.088463567087884,current_pose_yaw:1.582289457321167 +[2026-10-09 17:43:16.174] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.174] [path_visualizer] [debug] current_cmd_angular_z:-0.03029138531375799 +[2026-10-09 17:43:16.223] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.223] [path_visualizer] [debug] current_pose_x:-3.008644323614321, current_pose_y:7.139072174170528,current_pose_yaw:1.581229329109192 +[2026-10-09 17:43:16.223] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.223] [path_visualizer] [debug] current_cmd_angular_z:-0.029242566264425167 +[2026-10-09 17:43:16.272] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.272] [path_visualizer] [debug] current_pose_x:-3.008644323614321, current_pose_y:7.139072174170528,current_pose_yaw:1.581229329109192 +[2026-10-09 17:43:16.272] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.272] [path_visualizer] [debug] current_cmd_angular_z:-0.029242566264425167 +[2026-10-09 17:43:16.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.325] [path_visualizer] [debug] current_pose_x:-3.008644323614321, current_pose_y:7.139072174170528,current_pose_yaw:1.581229329109192 +[2026-10-09 17:43:16.325] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.325] [path_visualizer] [debug] current_cmd_angular_z:-0.029242566264425167 +[2026-10-09 17:43:16.373] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.373] [path_visualizer] [debug] current_pose_x:-3.009002140341868, current_pose_y:7.1896789403880135,current_pose_yaw:1.5802159309387205 +[2026-10-09 17:43:16.373] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.373] [path_visualizer] [debug] current_cmd_angular_z:-0.028269732669754737 +[2026-10-09 17:43:16.423] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.423] [path_visualizer] [debug] current_pose_x:-3.009002140341868, current_pose_y:7.1896789403880135,current_pose_yaw:1.5802159309387205 +[2026-10-09 17:43:16.423] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.423] [path_visualizer] [debug] current_cmd_angular_z:-0.028269732669754737 +[2026-10-09 17:43:16.474] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.474] [path_visualizer] [debug] current_pose_x:-3.009002140341868, current_pose_y:7.1896789403880135,current_pose_yaw:1.5802159309387205 +[2026-10-09 17:43:16.474] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.474] [path_visualizer] [debug] current_cmd_angular_z:-0.028269732669754737 +[2026-10-09 17:43:16.526] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.526] [path_visualizer] [debug] current_pose_x:-3.0093381451733414, current_pose_y:7.240284556818847,current_pose_yaw:1.5792281627655027 +[2026-10-09 17:43:16.526] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.526] [path_visualizer] [debug] current_cmd_angular_z:-0.02729618969000466 +[2026-10-09 17:43:16.577] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.577] [path_visualizer] [debug] current_pose_x:-3.0093381451733414, current_pose_y:7.240284556818847,current_pose_yaw:1.5792281627655027 +[2026-10-09 17:43:16.577] [path_visualizer] [debug] current_path_x:-3.002634291227573, current_path_y:7.170640937807108,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.577] [path_visualizer] [debug] current_cmd_angular_z:-0.02729618969000466 +[2026-10-09 17:43:16.619] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.619] [path_visualizer] [debug] current_pose_x:-3.0096609889175987, current_pose_y:7.290890927194475,current_pose_yaw:1.578272819519043 +[2026-10-09 17:43:16.619] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.619] [path_visualizer] [debug] current_cmd_angular_z:-0.02635048830957918 +[2026-10-09 17:43:16.673] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.673] [path_visualizer] [debug] current_pose_x:-3.0096609889175987, current_pose_y:7.290890927194475,current_pose_yaw:1.578272819519043 +[2026-10-09 17:43:16.673] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.673] [path_visualizer] [debug] current_cmd_angular_z:-0.02635048830957918 +[2026-10-09 17:43:16.722] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.722] [path_visualizer] [debug] current_pose_x:-3.0096609889175987, current_pose_y:7.290890927194475,current_pose_yaw:1.578272819519043 +[2026-10-09 17:43:16.722] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.722] [path_visualizer] [debug] current_cmd_angular_z:-0.02635048830957918 +[2026-10-09 17:43:16.773] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.773] [path_visualizer] [debug] current_pose_x:-3.0099628706442796, current_pose_y:7.341494602809771,current_pose_yaw:1.5773417949676514 +[2026-10-09 17:43:16.773] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.773] [path_visualizer] [debug] current_cmd_angular_z:-0.025403475227072383 +[2026-10-09 17:43:16.824] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.824] [path_visualizer] [debug] current_pose_x:-3.0099628706442796, current_pose_y:7.341494602809771,current_pose_yaw:1.5773417949676514 +[2026-10-09 17:43:16.824] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.824] [path_visualizer] [debug] current_cmd_angular_z:-0.025403475227072383 +[2026-10-09 17:43:16.874] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.874] [path_visualizer] [debug] current_pose_x:-3.0103882958940615, current_pose_y:7.392032164739271,current_pose_yaw:1.5764998197555542 +[2026-10-09 17:43:16.874] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.874] [path_visualizer] [debug] current_cmd_angular_z:-0.02484935401486836 +[2026-10-09 17:43:16.920] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.920] [path_visualizer] [debug] current_pose_x:-3.0103882958940615, current_pose_y:7.392032164739271,current_pose_yaw:1.5764998197555542 +[2026-10-09 17:43:16.920] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.920] [path_visualizer] [debug] current_cmd_angular_z:-0.02484935401486836 +[2026-10-09 17:43:16.976] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:16.976] [path_visualizer] [debug] current_pose_x:-3.0103882958940615, current_pose_y:7.392032164739271,current_pose_yaw:1.5764998197555542 +[2026-10-09 17:43:16.976] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:16.976] [path_visualizer] [debug] current_cmd_angular_z:-0.02484935401486836 +[2026-10-09 17:43:17.024] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.024] [path_visualizer] [debug] current_pose_x:-3.010732251831223, current_pose_y:7.442618031387519,current_pose_yaw:1.575667142868042 +[2026-10-09 17:43:17.024] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.024] [path_visualizer] [debug] current_cmd_angular_z:-0.02414908008297729 +[2026-10-09 17:43:17.072] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.072] [path_visualizer] [debug] current_pose_x:-3.010732251831223, current_pose_y:7.442618031387519,current_pose_yaw:1.575667142868042 +[2026-10-09 17:43:17.072] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.072] [path_visualizer] [debug] current_cmd_angular_z:-0.02414908008297729 +[2026-10-09 17:43:17.123] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.123] [path_visualizer] [debug] current_pose_x:-3.010732251831223, current_pose_y:7.442618031387519,current_pose_yaw:1.575667142868042 +[2026-10-09 17:43:17.123] [path_visualizer] [debug] current_path_x:-3.0026342353784163, current_path_y:7.369825395126257,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.123] [path_visualizer] [debug] current_cmd_angular_z:-0.02414908008297729 +[2026-10-09 17:43:17.171] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.171] [path_visualizer] [debug] current_pose_x:-3.0110015208627146, current_pose_y:7.493239146542155,current_pose_yaw:1.5748355388641355 +[2026-10-09 17:43:17.171] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.171] [path_visualizer] [debug] current_cmd_angular_z:-0.023302560171601504 +[2026-10-09 17:43:17.226] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.226] [path_visualizer] [debug] current_pose_x:-3.0110015208627146, current_pose_y:7.493239146542155,current_pose_yaw:1.5748355388641355 +[2026-10-09 17:43:17.226] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.226] [path_visualizer] [debug] current_cmd_angular_z:-0.023302560171601504 +[2026-10-09 17:43:17.275] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.275] [path_visualizer] [debug] current_pose_x:-3.011293768902404, current_pose_y:7.5438349357281815,current_pose_yaw:1.574040412902832 +[2026-10-09 17:43:17.275] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.275] [path_visualizer] [debug] current_cmd_angular_z:-0.022562071812633287 +[2026-10-09 17:43:17.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.325] [path_visualizer] [debug] current_pose_x:-3.011293768902404, current_pose_y:7.5438349357281815,current_pose_yaw:1.574040412902832 +[2026-10-09 17:43:17.325] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.325] [path_visualizer] [debug] current_cmd_angular_z:-0.022562071812633287 +[2026-10-09 17:43:17.371] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.371] [path_visualizer] [debug] current_pose_x:-3.011293768902404, current_pose_y:7.5438349357281815,current_pose_yaw:1.574040412902832 +[2026-10-09 17:43:17.371] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.371] [path_visualizer] [debug] current_cmd_angular_z:-0.022562071812633287 +[2026-10-09 17:43:17.423] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.423] [path_visualizer] [debug] current_pose_x:-3.011577109912005, current_pose_y:7.594423275023855,current_pose_yaw:1.5732684135437012 +[2026-10-09 17:43:17.423] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.423] [path_visualizer] [debug] current_cmd_angular_z:-0.021842313902534043 +[2026-10-09 17:43:17.471] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.471] [path_visualizer] [debug] current_pose_x:-3.011577109912005, current_pose_y:7.594423275023855,current_pose_yaw:1.5732684135437012 +[2026-10-09 17:43:17.471] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.471] [path_visualizer] [debug] current_cmd_angular_z:-0.021842313902534043 +[2026-10-09 17:43:17.525] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.525] [path_visualizer] [debug] current_pose_x:-3.0118692086830348, current_pose_y:7.645005710949298,current_pose_yaw:1.5725339651107788 +[2026-10-09 17:43:17.525] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.525] [path_visualizer] [debug] current_cmd_angular_z:-0.021202272502487355 +[2026-10-09 17:43:17.571] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.571] [path_visualizer] [debug] current_pose_x:-3.0118692086830348, current_pose_y:7.645005710949298,current_pose_yaw:1.5725339651107788 +[2026-10-09 17:43:17.571] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.571] [path_visualizer] [debug] current_cmd_angular_z:-0.021202272502487355 +[2026-10-09 17:43:17.624] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.624] [path_visualizer] [debug] current_pose_x:-3.0118692086830348, current_pose_y:7.645005710949298,current_pose_yaw:1.5725339651107788 +[2026-10-09 17:43:17.624] [path_visualizer] [debug] current_path_x:-3.00263417952926, current_path_y:7.569009852445404,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.624] [path_visualizer] [debug] current_cmd_angular_z:-0.021202272502487355 +[2026-10-09 17:43:17.672] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.672] [path_visualizer] [debug] current_pose_x:-3.01217013379972, current_pose_y:7.695587132285357,current_pose_yaw:1.5718361139297485 +[2026-10-09 17:43:17.672] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.672] [path_visualizer] [debug] current_cmd_angular_z:-0.02064061111413376 +[2026-10-09 17:43:17.725] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.725] [path_visualizer] [debug] current_pose_x:-3.01217013379972, current_pose_y:7.695587132285357,current_pose_yaw:1.5718361139297485 +[2026-10-09 17:43:17.725] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.725] [path_visualizer] [debug] current_cmd_angular_z:-0.02064061111413376 +[2026-10-09 17:43:17.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.774] [path_visualizer] [debug] current_pose_x:-3.01217013379972, current_pose_y:7.695587132285357,current_pose_yaw:1.5718361139297485 +[2026-10-09 17:43:17.774] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.774] [path_visualizer] [debug] current_cmd_angular_z:-0.02064061111413376 +[2026-10-09 17:43:17.823] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.823] [path_visualizer] [debug] current_pose_x:-3.012446445246105, current_pose_y:7.746172360454183,current_pose_yaw:1.5711497068405154 +[2026-10-09 17:43:17.823] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.823] [path_visualizer] [debug] current_cmd_angular_z:-0.020049019402811338 +[2026-10-09 17:43:17.872] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.872] [path_visualizer] [debug] current_pose_x:-3.012446445246105, current_pose_y:7.746172360454183,current_pose_yaw:1.5711497068405154 +[2026-10-09 17:43:17.872] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.872] [path_visualizer] [debug] current_cmd_angular_z:-0.020049019402811338 +[2026-10-09 17:43:17.924] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.924] [path_visualizer] [debug] current_pose_x:-3.012665155611817, current_pose_y:7.796776066927432,current_pose_yaw:1.5704493522644045 +[2026-10-09 17:43:17.924] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.924] [path_visualizer] [debug] current_cmd_angular_z:-0.019320021475998893 +[2026-10-09 17:43:17.974] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:17.974] [path_visualizer] [debug] current_pose_x:-3.012665155611817, current_pose_y:7.796776066927432,current_pose_yaw:1.5704493522644045 +[2026-10-09 17:43:17.974] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:17.974] [path_visualizer] [debug] current_cmd_angular_z:-0.019320021475998893 +[2026-10-09 17:43:18.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.025] [path_visualizer] [debug] current_pose_x:-3.012665155611817, current_pose_y:7.796776066927432,current_pose_yaw:1.5704493522644045 +[2026-10-09 17:43:18.025] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.025] [path_visualizer] [debug] current_cmd_angular_z:-0.019320021475998893 +[2026-10-09 17:43:18.076] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.076] [path_visualizer] [debug] current_pose_x:-3.0128655255057493, current_pose_y:7.847378335784441,current_pose_yaw:1.5697609186172485 +[2026-10-09 17:43:18.076] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.076] [path_visualizer] [debug] current_cmd_angular_z:-0.01857443838471247 +[2026-10-09 17:43:18.125] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.125] [path_visualizer] [debug] current_pose_x:-3.0128655255057493, current_pose_y:7.847378335784441,current_pose_yaw:1.5697609186172485 +[2026-10-09 17:43:18.125] [path_visualizer] [debug] current_path_x:-3.002634123680103, current_path_y:7.768194309764552,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.125] [path_visualizer] [debug] current_cmd_angular_z:-0.01857443838471247 +[2026-10-09 17:43:18.169] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.169] [path_visualizer] [debug] current_pose_x:-3.013062578185848, current_pose_y:7.8979793435062575,current_pose_yaw:1.569100022315979 +[2026-10-09 17:43:18.169] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.169] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.225] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.225] [path_visualizer] [debug] current_pose_x:-3.013062578185848, current_pose_y:7.8979793435062575,current_pose_yaw:1.569100022315979 +[2026-10-09 17:43:18.225] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.225] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.273] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.273] [path_visualizer] [debug] current_pose_x:-3.013062578185848, current_pose_y:7.8979793435062575,current_pose_yaw:1.569100022315979 +[2026-10-09 17:43:18.273] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.273] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.325] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.325] [path_visualizer] [debug] current_pose_x:-3.0132456833934076, current_pose_y:7.947969573519535,current_pose_yaw:1.5684657096862793 +[2026-10-09 17:43:18.325] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.325] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.374] [path_visualizer] [debug] current_pose_x:-3.0132456833934076, current_pose_y:7.947969573519535,current_pose_yaw:1.5684657096862793 +[2026-10-09 17:43:18.374] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.374] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.422] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.422] [path_visualizer] [debug] current_pose_x:-3.0132456833934076, current_pose_y:7.947969573519535,current_pose_yaw:1.5684657096862793 +[2026-10-09 17:43:18.422] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.422] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.469] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.469] [path_visualizer] [debug] current_pose_x:-3.0132572553729933, current_pose_y:7.989810698812764,current_pose_yaw:1.5678328275680544 +[2026-10-09 17:43:18.469] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.469] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.527] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.527] [path_visualizer] [debug] current_pose_x:-3.0132572553729933, current_pose_y:7.989810698812764,current_pose_yaw:1.5678328275680544 +[2026-10-09 17:43:18.527] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.527] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.571] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.571] [path_visualizer] [debug] current_pose_x:-3.0130754169779292, current_pose_y:8.021557052151355,current_pose_yaw:1.5672017335891721 +[2026-10-09 17:43:18.571] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.571] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.621] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.621] [path_visualizer] [debug] current_pose_x:-3.0130754169779292, current_pose_y:8.021557052151355,current_pose_yaw:1.5672017335891721 +[2026-10-09 17:43:18.621] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.621] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.676] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.676] [path_visualizer] [debug] current_pose_x:-3.0130754169779292, current_pose_y:8.021557052151355,current_pose_yaw:1.5672017335891721 +[2026-10-09 17:43:18.676] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.676] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.718] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.718] [path_visualizer] [debug] current_pose_x:-3.012713304176077, current_pose_y:8.0432248682107,current_pose_yaw:1.566572666168213 +[2026-10-09 17:43:18.718] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.718] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.774] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.774] [path_visualizer] [debug] current_pose_x:-3.012713304176077, current_pose_y:8.0432248682107,current_pose_yaw:1.566572666168213 +[2026-10-09 17:43:18.774] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.774] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.820] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.820] [path_visualizer] [debug] current_pose_x:-3.0121838181355027, current_pose_y:8.054820654410786,current_pose_yaw:1.565945506095886 +[2026-10-09 17:43:18.820] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.820] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.871] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.871] [path_visualizer] [debug] current_pose_x:-3.0121838181355027, current_pose_y:8.054820654410786,current_pose_yaw:1.565945506095886 +[2026-10-09 17:43:18.871] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.871] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.920] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.920] [path_visualizer] [debug] current_pose_x:-3.0121838181355027, current_pose_y:8.054820654410786,current_pose_yaw:1.565945506095886 +[2026-10-09 17:43:18.920] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.920] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:18.973] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:18.973] [path_visualizer] [debug] current_pose_x:-3.011739232766865, current_pose_y:8.056948957369503,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:18.973] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:18.973] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.025] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.025] [path_visualizer] [debug] current_pose_x:-3.011739232766865, current_pose_y:8.056948957369503,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.025] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.025] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.074] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.074] [path_visualizer] [debug] current_pose_x:-3.011739232766865, current_pose_y:8.056948957369503,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.074] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.074] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.122] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.123] [path_visualizer] [debug] current_pose_x:-3.0117382342219687, current_pose_y:8.056903888144198,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.123] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.123] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.173] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.173] [path_visualizer] [debug] current_pose_x:-3.0117382342219687, current_pose_y:8.056903888144198,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.173] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.173] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.220] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.220] [path_visualizer] [debug] current_pose_x:-3.0117378632909144, current_pose_y:8.056885575601488,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.220] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.220] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.271] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.271] [path_visualizer] [debug] current_pose_x:-3.0117378632909144, current_pose_y:8.056885575601488,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.271] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.271] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.323] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.324] [path_visualizer] [debug] current_pose_x:-3.0117378632909144, current_pose_y:8.056885575601488,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.324] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.324] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.374] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.374] [path_visualizer] [debug] current_pose_x:-3.0117377172095234, current_pose_y:8.056878243269978,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.374] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.374] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.424] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.424] [path_visualizer] [debug] current_pose_x:-3.0117377172095234, current_pose_y:8.056878243269978,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.424] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.425] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.471] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.471] [path_visualizer] [debug] current_pose_x:-3.011737663282034, current_pose_y:8.056875377072949,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.471] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.471] [path_visualizer] [debug] current_cmd_angular_z:0.0 +[2026-10-09 17:43:19.521] [path_visualizer] [debug] LQR Gain Matrix K: +1.98346 1.6603 +[2026-10-09 17:43:19.521] [path_visualizer] [debug] current_pose_x:-3.011737663282034, current_pose_y:8.056875377072949,current_pose_yaw:1.565526366233826 +[2026-10-09 17:43:19.521] [path_visualizer] [debug] current_path_x:-3.0026340678309467, current_path_y:7.9673787670837,current_path_yaw:1.570796327 +[2026-10-09 17:43:19.521] [path_visualizer] [debug] current_cmd_angular_z:0.0 diff --git a/rviz2.jpg b/rviz2.jpg deleted file mode 100644 index 961eac3..0000000 Binary files a/rviz2.jpg and /dev/null differ diff --git a/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp b/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp index d60a864..d237763 100644 --- a/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp +++ b/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp @@ -22,6 +22,13 @@ #include #include #include +#include + + +#include +#include +#include +#include class PathVisualizer : public rclcpp::Node { @@ -38,6 +45,8 @@ private: double w); double normalize_angle(double angle); bool downloadPathJson(const std::string &url,std::string &json_data); + bool downloadPathJson(const std::string &file_path,std::string &json_data, + bool is_local_file); bool loadPathFromJson(const std::string &json_data); double gps_to_x(double lat,double lon); @@ -56,7 +65,9 @@ private: void interpolatePoints(double max_interval_distance); void publishLocalPose(); void publishOdomPath(); - + void computePathCurvature(); + // lqr + Eigen::MatrixXd lqr(const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, const Eigen::MatrixXd &Q, const Eigen::MatrixXd &R); private: // topic pub rclcpp::Publisher::SharedPtr cmd_pub_; @@ -84,6 +95,7 @@ private: std::vector path_x_; std::vector path_y_; std::vector path_yaw_; + std::vector path_kappa_; // odom history pose std::vector history_x_; std::vector history_y_; @@ -100,8 +112,8 @@ private: bool has_pose_; // contorl paramss double max_speed_ = 0.8; - double max_yaw_rate_ = 2.0; - double lookahead_distance_ =0.6; + double max_yaw_rate_ = 5.0; + double lookahead_distance_ =0.4; double max_interval_distance_ = 0.2; double origin_lat_; double origin_lon_; @@ -110,13 +122,27 @@ private: int forward_index_limit_=100; int path_track_index_ = -1; + // stanley parametres + double k_yaw_ = 1.0; + double k_lat_ = 1.0; + + //lqr parametres + double Q_e = 1.0; + double Q_h = 1.0; + double R_u = 1.0; + bool kappa_cal_ = false; bool origin_set_= false; bool path_transed = false; + std::string file_path_; std::string file_name_; std::string path_url_ ; std::string json_data_; std::unique_ptr geodetic_converter_; + + // logger + std::shared_ptr logger_; + }; #endif diff --git a/src/webots_simulation/src/PathVisualizer.cpp b/src/webots_simulation/src/PathVisualizer.cpp index d5e5615..1390ff3 100644 --- a/src/webots_simulation/src/PathVisualizer.cpp +++ b/src/webots_simulation/src/PathVisualizer.cpp @@ -1,5 +1,7 @@ #include "sweet_webots_robot/PathVisualizer.hpp" + + PathVisualizer::PathVisualizer(const std::string& file_name): Node("path_visualizer"), target_index_(0), @@ -7,6 +9,7 @@ has_pose_(false) { file_name_ = file_name; path_url_ = "https://test.sweetai.cn:4433/load/locationCmdPath/" + file_name_; + file_path_ = "/home/sweetai/auto_drive_misson_center_webots_simulation/test_path.json"; RCLCPP_INFO(this->get_logger(),"PathVisualizer started"); // pub cmd_pub_ = this->create_publisher("/twist_cmd_vel",10); @@ -39,8 +42,35 @@ has_pose_(false) // urdf pose tf_broadcaster_ = std::make_unique(*this); // path get - downloadPathJson(path_url_,json_data_); + downloadPathJson(file_path_,json_data_,true); loadPathFromJson(json_data_); + + + // logger初始化 + auto console_sink = + std::make_shared(); + + // 每次启动时清空原文件 + auto file_sink = + std::make_shared( + "./path_visualizer.log", + true // truncate：清空原文件 + ); + + std::vector sinks{ + console_sink, + file_sink + }; + + logger_ = std::make_shared( + "path_visualizer", + sinks.begin(), + sinks.end() + ); + + logger_->set_level(spdlog::level::debug); + + logger_->info("PathVisualizer started"); } @@ -122,6 +152,60 @@ void PathVisualizer::transformPathToVehicleStart(double vehicle_initial_yaw) } } + +#include +#include +#include + +bool PathVisualizer::downloadPathJson(const std::string &file_path, + std::string &json_data, + bool is_local_file) +{ + json_data.clear(); + + // 打开本地 JSON 文件 + std::ifstream file(file_path); + if (!file.is_open()) + { + RCLCPP_ERROR( + this->get_logger(), + "Failed to open JSON file: %s", + file_path.c_str()); + return false; + } + + // 读取文件全部内容 + std::stringstream buffer; + buffer << file.rdbuf(); + + if (file.bad()) + { + RCLCPP_ERROR( + this->get_logger(), + "Failed to read JSON file: %s", + file_path.c_str()); + return false; + } + + json_data = buffer.str(); + + if (json_data.empty()) + { + RCLCPP_ERROR( + this->get_logger(), + "JSON file is empty: %s", + file_path.c_str()); + return false; + } + + RCLCPP_INFO( + this->get_logger(), + "Path JSON loaded successfully, size = %zu, path = %s", + json_data.size(), + file_path.c_str()); + + return true; +} bool PathVisualizer::downloadPathJson(const std::string &url, std::string &json_data) { @@ -171,6 +255,19 @@ bool PathVisualizer::loadPathFromJson( { // 解析 JSON json data =json::parse(json_data); + // 检查 properties + if (!data.contains("properties") || + !data["properties"].is_object()) + { + RCLCPP_ERROR(this->get_logger(),"JSON does not contain valid properties"); + return false; + } + max_speed_ = data["properties"]["misionSpeed"].get(); + k_yaw_ = data["properties"]["k_yaw"].get(); + k_lat_ = data["properties"]["k_lat"].get(); + Q_e = data["properties"]["lqr_Q_e"].get(); + Q_h = data["properties"]["lqr_Q_h"].get(); + R_u = data["properties"]["lqr_R_u"].get(); // 检查 features if (!data.contains("features") || !data["features"].is_array() || @@ -502,6 +599,38 @@ void PathVisualizer::publishPathRviz() origin_path_pub_->publish(origin_path); } + +void PathVisualizer::computePathCurvature() + { + if (path_x_.size() < 3) { + return; + } + path_kappa_.resize(path_x_.size()); + for (size_t i = 1; i < path_x_.size() - 1; ++i) + { + int p_prev = i - 1; + int p_curr = i; + int p_next = i + 1; + double ds1 = std::hypot(path_x_[p_curr] - path_x_[p_prev],path_y_[p_curr] - path_y_[p_prev]); + double ds2 = std::hypot(path_x_[p_next] - path_x_[p_curr],path_y_[p_next] - path_y_[p_curr]); + double ds = 0.5 * (ds1 + ds2); + if (ds < 1e-6) { + path_kappa_[i] = 0.0; + continue; + } + double dyaw = path_yaw_[p_next] - path_yaw_[p_prev]; + while (dyaw > M_PI) + dyaw -= 2.0 * M_PI; + + while (dyaw < -M_PI) + dyaw += 2.0 * M_PI; + path_kappa_[i] = dyaw / (ds1 + ds2); + logger_->debug("path ind:{}, kappa:{}", i, path_kappa_[i]); + } + // 首尾点处理 + path_kappa_[0] = path_kappa_[1]; + path_kappa_[path_kappa_.size() - 1] = path_kappa_[path_kappa_.size() - 2]; + } void PathVisualizer::publishHistoryPathRviz(){ history_x_.push_back(x_); history_y_.push_back(y_); @@ -592,7 +721,22 @@ void PathVisualizer::localozation_callback(const geometry_msgs::msg::PoseWithCov publishOdomPath(); } } - +Eigen::MatrixXd PathVisualizer::lqr(const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, const Eigen::MatrixXd &Q, const Eigen::MatrixXd &R) +{ + + Eigen::MatrixXd P = Q; // 初始化P为Q + Eigen::MatrixXd P_prev = Eigen::MatrixXd::Zero(A.rows(), A.cols()); + for (int i = 0; i < 1000; ++i) + { + P_prev = P; + P = Q + A.transpose() * P * A - A.transpose() * P * B * (R + B.transpose() * P * B).inverse() * B.transpose() * P * A; + if ((P - P_prev).norm() < 1e-6) + break; // 收敛条件 + } + // LQR增益矩阵K + Eigen::MatrixXd K = (R + B.transpose() * P * B).inverse() * B.transpose() * P * A; + return K; +}; void PathVisualizer::control(){ if(!has_pose_) { @@ -601,15 +745,22 @@ void PathVisualizer::control(){ "control has not pose."); return; } - + double speed=max_speed_; publishVehicleInfoRviz(); publishLocalPose(); + if(!kappa_cal_){ + kappa_cal_=true; + computePathCurvature(); + } + target_index_= findClosestPoint(forward_index_limit_); + int current_index = target_index_; int target =findLookAheadPoint(); double target_x =path_x_[target]; double target_y =path_y_[target]; double target_yaw =path_yaw_[target]; + double target_kappa =path_kappa_[target]; /*世界坐标转换到车辆坐标系*/ double dx =target_x-x_; @@ -617,15 +768,65 @@ void PathVisualizer::control(){ double local_x =cos(yaw_)*dx+sin(yaw_)*dy; double local_y =-sin(yaw_)*dx+cos(yaw_)*dy; - /*Pure Pursuit*/ - double Ld =sqrt(local_x*local_x+local_y*local_y); - double curvature =2.0*local_y/(Ld*Ld); + double target_angle = std::atan2(dy, dx); + double alpha = target_angle - yaw_; + while (alpha > M_PI) alpha -= 2 * M_PI; + while (alpha < -M_PI) alpha += 2 * M_PI; geometry_msgs::msg::Twist cmd; - double speed=max_speed_; - cmd.linear.x =speed; - cmd.angular.z =speed*curvature; + /*Pure Pursuit*/ + // double Ld =sqrt(local_x*local_x+local_y*local_y); + // double w_cmd =2.0*speed*sin(alpha)/(Ld); + + /*Stanley*/ + double curent_path_x = path_x_[current_index]; + double curent_path_y = path_y_[current_index]; + double current_path_yaw =path_yaw_[current_index]; + double current_path_kappa = path_kappa_[current_index]; + alpha = current_path_yaw - yaw_; + while (alpha > M_PI) alpha -= 2 * M_PI; + while (alpha < -M_PI) alpha += 2 * M_PI; + + double dx_path = x_ - curent_path_x; + double dy_path = y_ - curent_path_y; + double error_lat = -dx_path * sin(current_path_yaw) + dy_path * cos(current_path_yaw); + double w_cmd =k_yaw_ * alpha - k_lat_ * std::atan2(error_lat,speed); + + /*lqr*/ + double dt = 0.01; + Eigen::MatrixXd A(2, 2),B(2, 1),Q(2, 2),R(1, 1); + // A << 1.0 , speed * dt, + // 0 , 1.0; + // B << 0.5 * speed * dt * dt, + // dt; + A << 1.0 , speed * dt, + 0 , 1.0; + B << 0, + dt; + Q << Q_e , 0 , + 0 , Q_h; + R << R_u; + + Eigen::VectorXd x(2); + x << error_lat, -alpha; + Eigen::MatrixXd K = lqr(A, B, Q, R); + + std::stringstream ss; + ss << K; + logger_->debug("LQR Gain Matrix K:\n{}", ss.str()); + w_cmd = - 1 * speed * 0 -(K * x)(0, 0); + + logger_->debug("current_pose_x:{}, current_pose_y:{},current_pose_yaw:{}", + x_, y_,yaw_ + ); + logger_->debug("current_path_x:{}, current_path_y:{},current_path_yaw:{}", + curent_path_x, + curent_path_y, + current_path_yaw + ); + cmd.linear.x = speed; + cmd.angular.z = w_cmd; if(cmd.angular.z >max_yaw_rate_) { @@ -637,7 +838,15 @@ void PathVisualizer::control(){ cmd.angular.z=-max_yaw_rate_; } - //cmd_pub_->publish(cmd); + if (current_index == path_x_.size() - 1) + { + cmd.linear.x = 0.0; + cmd.angular.z = 0.0; + RCLCPP_INFO(this->get_logger(),"Reached the end of the path."); + } + + cmd_pub_->publish(cmd); + logger_->debug("current_cmd_angular_z:{}",cmd.angular.z); // RCLCPP_INFO_THROTTLE( // this->get_logger(), diff --git a/stanley_k_lat_effor_0.32_1.2_1.0_x_data/stanley_0.32_1.2_1.0_0.8.csv b/stanley_k_lat_effor_0.32_1.2_1.0_x_data/stanley_0.32_1.2_1.0_0.8.csv new file mode 100644 index 0000000..7cc7c3d --- /dev/null +++ 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